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.