基于光纤光栅传感的智能内窥镜形状感知系统
摘要
随着新型传感技术、机械电子技术、生物医学工程、智能材料和计算机图形学等相关学科的发展、融合,临床上新型智能医疗器械不断出现,有效地拓展了传统医疗器械的功能和诊疗领域。结肠内窥镜是结肠疾病诊疗的重要医疗器械,由于工作环境的复杂性和自身形状不可视等不足,传统内窥镜在介入过程中会发生镜体缠绕、非预期结襻等情况,给病人带来痛苦和危险。基于迫切的临床需求和良好的市场前景,用智能传感器技术、自动化技术及可视化技术对传统内窥镜系统进行改进和创新研究已经在世界范围内展开。其中,新型的内窥镜形状感知系统是该领域的一个研究热点。
论文对基于光纤光栅传感的内窥镜形状感知系统进行了探索和研究,特别对微小尺寸的光纤光栅大曲率传感器及传感网络的关键技术进行了深入探讨,结合机械电子技术和计算机图形学技术,研制了全新的基于光纤光栅传感网络的实时形状感知系统以及渐进式形状感知系统,实现了内窥镜检查过程中镜体的可视化。
论文首先概述了医用内窥镜的发展历程,结合人体结肠特性,归纳了传统结肠内窥镜检查存在的问题,就内窥镜形状感知技术研究现状以及光纤光栅在智能结构中的应用现状进行了综述,通过对现有各种形状重建的方法和传感元器件的对比分析,提出了系统的总体研究方案,并讨论了各个功能模块的研究和设计技术路线。随后,论文结合光纤光栅传感器的温度及应变传感特性实验研究,探讨了光纤光栅传感的关键技术,包括传感机理、传感网络拓扑设计以及光纤光栅解调原理选择等。针对内窥镜形状感知的具体限制与要求,对光纤光栅大曲率传感的原理、设计、封装及标定等关键技术进行了研究,研究工作主要集中在以下三个方面:①为了实现大曲率变形检测,论文研究了光纤光栅空间曲率传感原理,选择了合适的基材,设计了传感器布置方式,并通过设计专用封装设备和工艺,研制了微小尺寸的大曲率传感器;②针对光纤光栅在机械性能上受拉、受压的能力不均衡,通过封装时在基材上施加预拉应变,扩大了光纤光栅的有效测量范围;③对曲率传感器在各种封装条件下的灵敏度进行了实验和分析,在较大的范围内实现了光纤光栅大曲率传感器灵敏度的可调。
在光纤光栅大曲率传感器研究的基础上,论文设计并搭建了基于光纤光栅传感网络的实时和渐进式两种内窥镜形状感知系统:①设计了网络规模为20个光纤光栅的四通道空分/波分复用形状感知网络,并按设计的几何关系封装在细长的SMA基材上,研制了微小外径尺寸的光纤光栅传感柔性杆。基于两种实时性能不同的解调仪器,利用形状重建算法及相关的数据处理、融合方法,搭建了内
The technology for intelligent medical instruments and medical robots is a crucial method and an important means of minimal invasive surgery. With the development of novel sensing technology, mechatronics,bio-engineering, intelligent material, computer graphics and other relevant disciplines, many novel kinds of intelligent medial instruments come out continually and remarkably enhances the function and application area of traditional medical instruments. A colonoscope is a typical instrument for the diagnosis and treat of intestinal disease. However, many difficulties arise as a result of unpredictable and invisible shape of the colonoscope within the colonic anatomy, bringing the patients much pain and danger. Driven by the impending clinical requirement and the favorable commercial foreground, significant research efforts have been made for the amelioration and invention of endoscopic system using intelligent sensing, automation and visualization technology. Among them, novel shape sensing system for endoscope has become a research focus of general interests.
This dissertation aims to provide steady sensing systems for the shape detection of colonoscopes. The research especially deals with the key technology of Fiber Bragg Grating (FBG) large curvature sensor and sensor net, integrates the technologies of mechatronics and computer graphics, and then develops real time FBG shape sensing system and incremental shape sending system for colonoscopies. After the analysis of state-of-the-art for the development of the endoscope and the difficulties of colonoscopy, the actualities of both endoscopic shape sensing and of FBG structure monitoring are summarized. By the analysis of the reconstruction principles and optional sensor components, integrated design of the shape sensing systems and the development roadmap of each unit are proposed respectively.
Based on the experimental research on FBG sensing response under different strain and temperature separately, the key technologies of typical FBG system are discussed. According to the limitation and requirement of the shape sensing of colonoscope, the principle design, encapsulation and calibration method of FBG large curvature sensor are discussed in detail. The research work mainly includes:①By the design of substrate material, encapsulation mechanism and encapsulation technology, a novel slim FBG large curvature sensor wire is developed.②FBG sensor with pre-strain is mounted on a slim cylindrical substrate to deal with the limitation caused by unbalanced mechanical property of the optical fiber.③At the same time, by changing the encapsulation condition, the curvature sensitivity can be adjusted in a large range.
In the dissertation, based on the research on the large curvature sensor and the curve fitting method, real time and incremental FBG shape sensing systems have been developed respectively.①A four-channel SDM/WDM FBG sensor net comprised 20
论文对基于光纤光栅传感的内窥镜形状感知系统进行了探索和研究,特别对微小尺寸的光纤光栅大曲率传感器及传感网络的关键技术进行了深入探讨,结合机械电子技术和计算机图形学技术,研制了全新的基于光纤光栅传感网络的实时形状感知系统以及渐进式形状感知系统,实现了内窥镜检查过程中镜体的可视化。
论文首先概述了医用内窥镜的发展历程,结合人体结肠特性,归纳了传统结肠内窥镜检查存在的问题,就内窥镜形状感知技术研究现状以及光纤光栅在智能结构中的应用现状进行了综述,通过对现有各种形状重建的方法和传感元器件的对比分析,提出了系统的总体研究方案,并讨论了各个功能模块的研究和设计技术路线。随后,论文结合光纤光栅传感器的温度及应变传感特性实验研究,探讨了光纤光栅传感的关键技术,包括传感机理、传感网络拓扑设计以及光纤光栅解调原理选择等。针对内窥镜形状感知的具体限制与要求,对光纤光栅大曲率传感的原理、设计、封装及标定等关键技术进行了研究,研究工作主要集中在以下三个方面:①为了实现大曲率变形检测,论文研究了光纤光栅空间曲率传感原理,选择了合适的基材,设计了传感器布置方式,并通过设计专用封装设备和工艺,研制了微小尺寸的大曲率传感器;②针对光纤光栅在机械性能上受拉、受压的能力不均衡,通过封装时在基材上施加预拉应变,扩大了光纤光栅的有效测量范围;③对曲率传感器在各种封装条件下的灵敏度进行了实验和分析,在较大的范围内实现了光纤光栅大曲率传感器灵敏度的可调。
在光纤光栅大曲率传感器研究的基础上,论文设计并搭建了基于光纤光栅传感网络的实时和渐进式两种内窥镜形状感知系统:①设计了网络规模为20个光纤光栅的四通道空分/波分复用形状感知网络,并按设计的几何关系封装在细长的SMA基材上,研制了微小外径尺寸的光纤光栅传感柔性杆。基于两种实时性能不同的解调仪器,利用形状重建算法及相关的数据处理、融合方法,搭建了内
The technology for intelligent medical instruments and medical robots is a crucial method and an important means of minimal invasive surgery. With the development of novel sensing technology, mechatronics,bio-engineering, intelligent material, computer graphics and other relevant disciplines, many novel kinds of intelligent medial instruments come out continually and remarkably enhances the function and application area of traditional medical instruments. A colonoscope is a typical instrument for the diagnosis and treat of intestinal disease. However, many difficulties arise as a result of unpredictable and invisible shape of the colonoscope within the colonic anatomy, bringing the patients much pain and danger. Driven by the impending clinical requirement and the favorable commercial foreground, significant research efforts have been made for the amelioration and invention of endoscopic system using intelligent sensing, automation and visualization technology. Among them, novel shape sensing system for endoscope has become a research focus of general interests.
This dissertation aims to provide steady sensing systems for the shape detection of colonoscopes. The research especially deals with the key technology of Fiber Bragg Grating (FBG) large curvature sensor and sensor net, integrates the technologies of mechatronics and computer graphics, and then develops real time FBG shape sensing system and incremental shape sending system for colonoscopies. After the analysis of state-of-the-art for the development of the endoscope and the difficulties of colonoscopy, the actualities of both endoscopic shape sensing and of FBG structure monitoring are summarized. By the analysis of the reconstruction principles and optional sensor components, integrated design of the shape sensing systems and the development roadmap of each unit are proposed respectively.
Based on the experimental research on FBG sensing response under different strain and temperature separately, the key technologies of typical FBG system are discussed. According to the limitation and requirement of the shape sensing of colonoscope, the principle design, encapsulation and calibration method of FBG large curvature sensor are discussed in detail. The research work mainly includes:①By the design of substrate material, encapsulation mechanism and encapsulation technology, a novel slim FBG large curvature sensor wire is developed.②FBG sensor with pre-strain is mounted on a slim cylindrical substrate to deal with the limitation caused by unbalanced mechanical property of the optical fiber.③At the same time, by changing the encapsulation condition, the curvature sensitivity can be adjusted in a large range.
In the dissertation, based on the research on the large curvature sensor and the curve fitting method, real time and incremental FBG shape sensing systems have been developed respectively.①A four-channel SDM/WDM FBG sensor net comprised 20
引文
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