SIA OpenIR  > 机器人学研究室
穿刺针尖光纤力传感信号的小波变换分析
Alternative TitleWavelet transform analysis of optic fiber force sensing signals at puncture needle tip
杨唐文; 陈盼飞; 韩建达; 徐卫良
Department机器人学研究室
Source Publication光学精密工程
ISSN1004-924X
2015
Volume23Issue:8Pages:2149-2157
Indexed ByEI ; CSCD
EI Accession number20153901301625
CSCD IDCSCD:5511238
Contribution Rank2
Funding Organization国家自然科学基金资助项目(No.61375109,No.61273356)
Keyword光纤力传感器 针穿刺 Mallat算法 分层软组织 边界界定 小波变换
Abstract经皮软组织穿刺过程中,穿刺针尖会历经不同材料特性的器官组织,受到复杂变化的作用力。为了测量针尖处的作用力并鉴定穿刺路径上不同层次的软组织,研制了一种光纤力传感器,并进行了力信号分析。首先,基于法-珀干涉介绍了光纤力传感器的测量原理、光链路设计、及其与针的集成和标定方法。在穿刺力信号分析的基础上,提出利用Mallat算法对力信号进行小波变换,提取信号的特征模式,界定软组织的各层边界。最后,在猪的肝脏和肋条组织样本上进行了针穿刺实验验证。结果显示:光纤力传感器的可测力为0至3.20N,测量精度可达0.01N。得到的穿刺试验结果表明Mallat算法能够有效地区分软组织的类型。研制的光纤传感器满足穿刺力的测量范围、精度和可靠性等要求,所提出的小波变换算法可用于软组织边界的界定,有望用于机器人穿刺控制。
Other AbstractDuring a percutaneous soft tissue puncture, a puncture needle is inserted into the layered tissues with various material properties, and the interactive force at the needle tip occurs discriminately. To measure the force and identify the boundaries of the layered tissues in the puncture path, a fiber optic force sensor was fabricated, and the force data acquired with the sensor were analyzed. In terms of a Fabry-Perot interferometer, the measuring principle of the fiber optic sensor was presented, and its optical link, its integration into the needle and calibration approach were introduced. Then, based on the insertion force signal analysis, the force signals were decomposed via the Mallat algorithm into wavelets, and their patterns were recognized and used to identify the layered tissue boundaries. Finally, needle insertion tests were performed with the swine liver and belly tissue phantoms. The experimental results show that the working range of the force sensor is 0-3.20 N and the measuring resolution is under 0.01 N. Moreover, the insertion test results indicate that the Mallat algorithm is effective to the discrimination of layered tissues. It concludes that the fabricated fiber optic sensor meets the requirements of working range, accuracy and reliability to measure an insertion force. The proposed wavelet transform algorithm is able to identify the boundaries of the layered tissues and is expected to used in the percutaneous control by a robot.
Language中文
Citation statistics
Cited Times:4[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/16970
Collection机器人学研究室
Affiliation1.北京交通大学信息科学研究所
2.中国科学院沈阳自动化研究所机器人学国家重点实验室
3.奥克兰大学机械工程系
Recommended Citation
GB/T 7714
杨唐文,陈盼飞,韩建达,等. 穿刺针尖光纤力传感信号的小波变换分析[J]. 光学精密工程,2015,23(8):2149-2157.
APA 杨唐文,陈盼飞,韩建达,&徐卫良.(2015).穿刺针尖光纤力传感信号的小波变换分析.光学精密工程,23(8),2149-2157.
MLA 杨唐文,et al."穿刺针尖光纤力传感信号的小波变换分析".光学精密工程 23.8(2015):2149-2157.
Files in This Item: Download All
File Name/Size DocType Version Access License
穿刺针尖光纤力传感信号的小波变换分析.p(584KB)期刊论文出版稿开放获取ODC PDDLView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[杨唐文]'s Articles
[陈盼飞]'s Articles
[韩建达]'s Articles
Baidu academic
Similar articles in Baidu academic
[杨唐文]'s Articles
[陈盼飞]'s Articles
[韩建达]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[杨唐文]'s Articles
[陈盼飞]'s Articles
[韩建达]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 穿刺针尖光纤力传感信号的小波变换分析.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.