心脏消融导管远端三维接触力光纤光栅传感检测新原理与新方法

To achieve three-dimensional direction identification and high-precision detection of the contact force between the cardiac radiofrequency ablation distal end and heart tissue, this proposal mainly focuses on some basic scientific issues and key technologies, such as fiber Bragg grating (FBG) sensing model for the three-dimensional contact force between the catheter distal end and cardiac tissue in a small space, coupling mechanism between multi-field environment and FBG sensing signal of three-dimensional force, and the mapping relationship of distributed FBG heterogeneous sensing information-multi-field environment-induced coupling error of the three-dimensional force sensor. Aiming to break through the limitations of the traditional three-dimensional force sensing method, a new principle of small three-dimensional contact force sensing for the catheter distal end in a narrow space has been explored through perfectly using the characteristics of FBG deformation interactive and the distributed sensing advantage. The technical difficulties and issues majorly including the extremely small three-dimensional contact force intelligent sensing at the catheter distal end, resolution isotropic detection and adaptive compensation of the multi-field environmental-induced coupling error could be solved in the proposal. Based on the above achievements, a new principle and approach of three-dimensional contact of the catheter distal end based on FBG sensing detection are to be created. The research of this proposal can not only pioneer a new way and scientific basis for the detection of three-dimensional contact force at the catheter distal end, but also has important significance for enriching and developing modern detection theory and multi-dimensional force measurement methods under multiple-field complex environment.

针对心脏射频消融导管远端与心脏组织之间的极小接触力难以实现三维方向辨识且难以达到高精度检测的理论和技术难点，本项目重点围绕狭小空间下导管远端三维接触力光纤光栅传感模型、多场环境对三维力光纤光栅传感信号的耦合机理、分布式光纤光栅异类传感信息-三维力传感器多场环境耦合误差映射关系等基础科学问题和关键技术展开研究，充分利用和发挥光纤光栅形变交互感知的特点和分布式传感的优势，突破传统三维力感知方法的局限，探索面向狭小空间下导管远端极小三维接触力传感新原理。通过研究，解决导管远端极小三维接触力智能感知的原理难点以及分辨率各向同性检测、多场环境耦合误差自适应补偿等技术问题，创建基于光纤光栅传感检测的导管远端三维接触力新原理与新方法。本项目的研究不但可为导管远端三维接触力的检测提供新途径和科学依据，而且对丰富和发展现代检测理论和多场复杂环境下多维力测量方法也具有重要的意义。

为实现心脏射频消融导管狭小空间与多场环境扰动下微小接触力精准测量，重点围绕导管三维力光纤传感器构型设计、制备与封装工艺、解耦方法、多场环境误差补偿与故障状态下容错解耦测量等理论与技术难点展开了研究，具体包括：.首先设计了两种导管三维力光纤传感构型，并建立了对应的三维力光纤传感模型，完成了导管三维力传感器灵敏度各向同性优化及其构型参数确定，提出了基于线性差分模型与人工智能的三维力线性与非线性维间解耦测量方法。.然后，研究了消融温度、心脏腔内负压、导管远端运动加速度等多场环境对三维力光纤光栅传感信号的影响规律，揭示了多场环境中三维力传感器耦合误差的形成机理。在此基础上，提出了基于微泡型F-P腔的压力误差补偿方法及基于异位光纤测量数据驱动的温度补偿方法，与此同时，设计了对运动加速度抑制的分层式光纤三维力构型。利用上述策略，使传感器耦合误差小于1.58%，提升了其在多场环境的自适应性。.此外，针对光纤光栅断裂易诱发测量失真问题，提出了一种基于斑点鬣狗算法与反向传播神经网络的导管三维力容错解耦测量方法，进一步改善了三维力测量精度。同时，利用上述技术，开发搭建了融合光纤感知的介入式导管手术机器人，并开展了测试实验。研究成果为心脏射频消融导管手术的发展与推广提供了技术支撑，并且对于促进三维接触力感知新原理和新方法的发展具有重要意义。