用光纤光频域反射技术实现钻探机器人全程形变实时感知。
A Single-Fiber Optical Frequency Domain Reflectometry (OFDR)-Based Shape Sensing of Concentric Tube Steerable Drilling Robots
- 用单根光纤+镍钛丝制成可连续测应变的传感组件。
- 在仿生骨骼模型中沿J型轨迹钻探时形状感知误差小。
- 无需粘贴传感器，直接藏于钻杆内，结构更紧凑可靠。
本文提出一种基于光学频率域反射技术（OFDR）的新型形变传感方法，用于同心管可转向钻探机器人（CT-SDR）。与传统基于光纤光栅（FBG）的方法不同，OFDR可在整根光纤上实现连续应变测量，空间分辨率更高。研究中先将单根OFDR光纤与扁平镍钛丝集成，制成形变传感组件（SSA），再将其置入柔性钻探器械内部通道，由CT-SDR预成型镍钛管引导。在此构型下，钻探器械作为保护鞘，避免了传统方法需将传感器粘附于器械表面的问题。在自由弯曲及多条J型轨迹钻探的合成Sawbones模型中对集成后的SSA性能进行了全面评估，结果表明其具备高精度、高可靠性的形变感知能力，验证了该集成策略的可行性与鲁棒性。
原文摘要 · Abstract (English)
This paper introduces a novel shape-sensing approach for Concentric Tube Steerable Drilling Robots (CT-SDRs) based on Optical Frequency Domain Reflectometry (OFDR). Unlike traditional FBG-based methods, OFDR enables continuous strain measurement along the entire fiber length with enhanced spatial resolution. In the proposed method, a Shape Sensing Assembly (SSA) is first fabricated by integrating a single OFDR fiber with a flat NiTi wire. The calibrated SSA is then routed through and housed within the internal channel of a flexible drilling instrument, which is guided by the pre-shaped NiTi tube of the CT-SDR. In this configuration, the drilling instrument serves as a protective sheath for the SSA during drilling, eliminating the need for integration or adhesion to the instrument surface that is typical of conventional optical sensor approaches. The performance of the proposed SSA, integrated within the cannulated CT-SDR, was thoroughly evaluated under free-bending conditions and during drilling along multiple J-shaped trajectories in synthetic Sawbones phantoms. Results demonstrate accurate and reliable shape-sensing capability, confirming the feasibility and robustness of this integration strategy.
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