The Fiber Bragg Grating Sensor for a Trans-oral Flexible Laryngeal Surgery Robot

摘要

The fiber Bragg grating (FBG) sensor based on shape reconstruction theory is provided for trans-oral multi-joint flexible laryngeal surgery robot as a new type of end position sensing means. The FBG sensor with a total length of 250mm and a diameter of 1.5mm was designed for the laryngeal surgery, containing four evenly distributed fiber Bragg gratings (FBGs). Its sensor layout was designed by wavelength division/space division multiplexing technology to improve measurement accuracy. The designed FBG sensor was made with optimized packaging technology and appropriate epoxy resin which could ensure the encapsulation success and accuracy. The shape reconstruction experiment result shows that the FBG non-substrate sensor can satisfied the requirements of trans-oral laryngeal surgery robot. The measurement accuracy is about 3.03%.