In this article, a triaxial force and torque sensor is developed and its response is evaluated. The sensor is designed for minimally invasive interventions. The fabrication method of the sensing structure is 3-D printing and the material used is a biocompatible acrylic plastic. Optical fibers are used as sensing elements in this sensor and the working principle is based on the Bragg wavelength shift of Bragg gratings. The response of the sensor is highly linear along all axes of measurement with the range of working around 0.7 N. The sensor has a high resolution of force and torque measurement which are 0.05 N and 0.1 Nmm, respectively. Experiments show that the sensor can accurately measure the applied force in a dynamic environment. Experiments are conducted to evaluate the thermal response of the sensor. The results show that the sensor can measure all components of the applied forces and torques to the surgery instruments without temperature cross-sensitivity.

中文翻译：

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与温度无关的三轴力和扭矩传感器，可进行最小程度的干预

在本文中，开发了一种三轴力和扭矩传感器，并对其响应进行了评估。该传感器设计用于微创干预。传感结构的制造方法是3-D打印，所用材料是生物相容性丙烯酸塑料。光纤用作该传感器的传感元件，其工作原理基于布拉格光栅的布拉格波长偏移。传感器的响应在所有测量轴上均呈高度线性，工作范围约为0.7N。该传感器的力和扭矩测量分辨率高，分别为0.05 N和0.1 Nmm。实验表明，该传感器可以准确地测量动态环境中的作用力。进行实验以评估传感器的热响应。