Multi sensing grasper for minimally invasive surgery

摘要

In the present work, a multi sensing grasper has been developed for minimally invasive surgery with embedded ZnO piezoelectric and Fiber Bragg Grating sensors. In this model, a sensing patch equipped with three FBG sensors to sense the temperature in rage of 800 n.m and two separated FBG in range of 1550 m.m to detect the displacement in x and y directions. ZnO piezoelectric is highly sensitive to time and provides a good resistance to temperature. Therefore, this sensor is used for measuring the rate of strain and creep coefficient. A finite element approach based on the viscous material theory and plane displacement theory of anisotropic materials has been utilized to obtain the compliance matrix of muscles. The compliance matrix is then used to determine the electromechanical coupling of ZnO piezoelectric sheet. The optomechanical relations between strains and FBG reflected wavelength shift have been utilized to study the static behavior of a grasper's jaw when grasping an object. The interrogated reflected spectrum caused by strain displacement in x and y directions, has been studied to find Cauchy-Green tensor equation and Prony series coefficients. Numerical illustrations have been presented to simulate the behavior of three types of human muscles subject to applied grasping load.