Design of 3D force perception system of surgical robots based on Fiber Bragg Grating

摘要

Surgical robots have been widely researched due to their features of accurate positioning, no jitter, high precision, and low error rate under certain tasks. However, it is generally relatively slow to the feedback generated by force, deformation, or sudden and arbitrary impact during operation. Besides, the feedback is always provided through a vision that cannot meet the actual operation requirements for doctors. The customized design and integration of force perception functions on different robots have become one of the research hotspots of surgical robotics-worldwide recently. A force perception sensor for surgical robots based on Fiber Bragg grating (FBG) is proposed in this paper. It can be used to measure three-dimensional force. The experimental parameters are utilized to calibrate the model through the least square method. A four DoFs experimental platform is constructed. The system errors of the sensor involved are evaluated. The effectiveness of the proposed algorithm can be proved by the experimental results