论文标题
基于FBG的三轴力传感器与偏心配置的成像探针集成了内肢光活检
FBG-Based Triaxial Force Sensor Integrated with an Eccentrically Configured Imaging Probe for Endoluminal Optical Biopsy
论文作者
论文摘要
准确的力传感对于在安全性和病变靶向方面的内部干预都很重要。本文通过在锥形底物的侧面配置三个FBG传感器来开发一种基于FBG的力传感器，用于机器人支气管镜检查。它允许大型偏心的内腔用于介入仪器，从而使内部有柔性成像探针进行光学活检。力传感器用激光封装的连续机器人体现，而热漂移完全由集成在传感器底物周长表面上的三个温度传感器补偿。研究了不同的去耦方法，并基于交叉验证SVM和高斯核函数采用了非线性去耦，分别沿X，Y和Z轴的精度达到10.58 MN，14.57 MN，14.57 MN和26.32 MN。还研究了组织测试，以进一步证明发达的三轴力传感器的可行性
Accurate force sensing is important for endoluminal intervention in terms of both safety and lesion targeting. This paper develops an FBG-based force sensor for robotic bronchoscopy by configuring three FBG sensors at the lateral side of a conical substrate. It allows a large and eccentric inner lumen for the interventional instrument, enabling a flexible imaging probe inside to perform optical biopsy. The force sensor is embodied with a laser-profiled continuum robot and thermo drift is fully compensated by three temperature sensors integrated on the circumference surface of the sensor substrate. Different decoupling approaches are investigated, and nonlinear decoupling is adopted based on the cross-validation SVM and a Gaussian kernel function, achieving an accuracy of 10.58 mN, 14.57 mN and 26.32 mN along X, Y and Z axis, respectively. The tissue test is also investigated to further demonstrate the feasibility of the developed triaxial force sensor
