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A Large-Deflection FBG Bending Sensor for SMA Bending Modules for Steerable Surgical Robots

机译:用于转向手术机器人的SMA弯曲模块的大挠度FBG弯曲传感器

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This paper presents the development of a fiber Bragg grating (FBG) bending sensor for shape memory alloy (SMA) bending modules. Due to the small form factor, low cost, and large-deflection capability, SMA bending modules can be used to construct disposable surgical robots for a variety of minimally invasive procedures. To realize a closed-loop control of SMA bending modules, an intrinsic bending sensor is imperative. Due to the lack of bending sensors for SMA bending modules, we have developed an FBG bending sensor by integrating FBG fibers with a superelastic substrate using flexible adhesive. Since the substrate is ultra-thin and adhesive is flexible, the sensor has low stiffness and can measure large curvatures. Additionally, due to the orthogonal arrangement of the sensor/actuator assembly, the influence of temperature variation caused by SMA actuation can be compensated. The working principle of the developed sensor was modeled followed by simulations. After experimentally evaluating the developed model, the sensor was integrated with an SMA bending module and cyclically bi-directionally deflected. The experimental results proved the relatively high measurement accuracy, high repeatability, and large measurable curvatures of the sensor, although hysteresis was observed due to friction.
机译:本文介绍了用于形状记忆合金(SMA)弯曲模块的光纤布拉格光栅(FBG)弯曲传感器的开发。由于外形小,成本低和偏转能力大,SMA弯曲模块可用于构造用于各种微创手术的一次性手术机器人。为了实现SMA弯曲模块的闭环控制,必须配备固有弯曲传感器。由于缺少用于SMA弯曲模块的弯曲传感器,我们通过使用柔性粘合剂将FBG纤维与超弹性基材集成在一起,开发出了FBG弯曲传感器。由于基材超薄且粘合剂具有柔韧性,因此传感器的硬度较低,可以测量大的曲率。另外,由于传感器/执行器组件的正交布置,可以补偿由SMA驱动引起的温度变化的影响。对开发的传感器的工作原理进行建模,然后进行仿真。在对开发的模型进行实验评估之后,该传感器与SMA弯曲模块集成在一起,并周期性地双向偏转。实验结果证明,尽管由于摩擦而出现了滞后现象,但传感器具有相对较高的测量精度,较高的重复性和较大的可测量曲率。

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