A Force/Position Measurement Method of Surgical Forceps Based on Fiber Bragg Gratings

This article presents a force/position detection model based on fiber Bragg grating (FBG), which has been further combined with the octagonal ring structure as a novel surgical jaw. Specifically, the upper jaw is force/position-jaw (FP-Jaw), which is used for position and force detection, and the lower jaw is utilized for temperature compensation. Then through Ansys finite-element simulation software, the structure optimization and harmonic response analysis of the clamp were carried out, and the operating frequency of the surgical clamp was determined to be about 0-640 Hz. Finally, temperature-compensation-force/position network (T-FPNet) for position/force decoupling is proposed, which can achieve temperature compensation as well. The experimental results clearly demonstrate that the proposed FP-Jaw can be well adapted to the forceps, with the measurement range, the maximum sensitivity, the measurement errors of force, and accuracy of the position being 0-5 N, 130.25 pm/N, 0.49%, and 99%, respectively.