3-axial force Self Fault-tolerant Decoupling of Surgical Forceps Integrating Step-coated FBG for Spinal Endoscopic Robot

This work proposed surgical forceps as a sensor that integrated step-coated Fiber Bragg Grating (FBG) for the 3-axial force sensing in the percutaneous spinal endoscopic robot. The step-coated FBG achieved a reflection spectrum with double wavelength peaks, providing more wavelength signals for fault-tolerant decoupling. The temperature and force sensitivity were regulated by adjusting the coating size to reduce decoupling error to 3.68% F.S, solving the span temperature (≥ 20 °C) disturbance from the operating room to the operative area. The optical fiber metallization and laser welding package was proposed to achieve stable connections between the quartz optical fiber and metal forceps. The innovative package made the forceps tolerate 180 °C dry-heat sterilization and aqueous erosion, allowing for sterilized reuse (11 times with error lower than 4.98% F.S) and long-term stability (one month with error lower than 4.36% F.S). A Wavelet Fuzzy Entropy (WFE) and Extreme Learning Machine (ELM) based dynamic fault-tolerant decoupling strategy was proposed. The WFE-ELM reduced the sensor error to 4.42% F.S. under the influence of spectrum chirp noise and single-branch FBG breakage, and the fault-tolerant recovery rate within 10% F.S. error was raised to 40.23%. The designed surgical instruments were integrated with a spinal endoscopic surgical robot to conduct the spine model and pig experiments, verifying its force-sensing effectiveness.