A High-Precision and Miniature Fiber Bragg Grating-Based Force Sensor for Tissue Palpation During Minimally Invasive Surgery
A High-Precision and Miniature Fiber Bragg Grating-Based Force Sensor for Tissue Palpation During Minimally Invasive Surgery
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DOI：
10.1007/s10439-019-02388-w
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发表时间：
2019-11-04
影响因子：
3.8
通讯作者：
Shi, Chaoyang
中科院分区：
文献类型：
--
作者：
Lv, Changhu;Wang, Shuxin;Shi, Chaoyang
本文提出了一种新型的基于光纤布拉格光栅（FBG）的触诊力传感器，用于探索微创手术期间的组织异常。所提出的传感器设计主要包括一个微型力敏感弯曲，一个紧密悬挂的光纤嵌入一个FBG元件和相关的连接器和固定。通过Sarrus机构的构型综合，采用刚体替换法实现了良好的轴向线性力-变形关系和大的测量范围，从而实现了柔性件的原型设计。该方法将光纤固定在挠性件的中心线上，两端胶接，与常用的直接粘贴FBG的方法相比，其紧密悬挂结构可以提高分辨率和灵敏度，避免FBG啁啾失效。有限元法（FEM）为基础的模拟已经进行调查的静态和动态性能，以帮助结构设计。仿真使结构优化设计也已实施，以进一步改善所提出的设计和传感器的灵敏度已经增加。优化的传感器设计已被原型化和校准，以证明具有0.97%的小线性误差的良好线性，并在0-5 N的相对较大的测量范围内实现2.55 mN的高分辨率。动态力刺激实验，在体外触诊实施嵌入模拟肿瘤的硅胶体模和离体压痕实验猪肝上验证了所提出的传感器设计的有效性。
This paper presents a novel Fiber Bragg Grating (FBG)-based palpation force sensor to explore tissue abnormalities during minimally invasive surgery. The proposed sensor design mainly consists of a miniature force-sensitive flexure, one tightly suspended optical fiber embedded with one FBG element and associated connectors and fixations. The flexure design has been prototyped through the configuration synthesis of Sarrus mechanism by using a rigid-body replacement method to achieve an excellent axial linear force-deformation relationship and a large measurement range. The mounted fiber has been configured at the flexure's central line with its two ends glued, and its tight suspension configuration can achieve improved resolution and sensitivity and avoid the FBG chirping failure compared to the commonly used direct FBG-pasting methods. Finite element method (FEM)-based simulation has been performed to investigate both static and dynamic performance to aid in structural design. Simulation-enabled structural optimization design has also been implemented to further improve the proposed design and the sensor's sensitivity has been increased. The optimized sensor design has been prototyped and calibrated to demonstrate an excellent linearity with a small linearity error of 0.97% and achieve a high resolution of 2.55 mN within a relatively large measurement range of 0-5 N. Dynamic force stimulation experiments, in vitro palpation implementation on a silicone phantom embedded with simulated tumors and ex vivo indentation experiments on a porcine liver have validated the effectiveness of the presented sensor design.