Endomicroscopy is an emerging non-invasive technique for real-time diagnosis of intraluminal malignancies. For accurate microscopic steering of the imaging probe in vivo, a miniature continuum manipulator has been developed to perform large-area optical biopsy. To keep images in focus, consistent contact with proper force and orientation between the imaging probe tip and the targeted tissue is required. This paper presents a spiral FBG sensors-based sensing method to simultaneously measure the force and torque exerted at the tip of the probe when contacting with the tissue. The embodiment consists of a tapered substrate with a hollow inner lumen for holding the imaging probe, and three optical fibres equally and spirally distributed on the outer surface of the substrate. Each fibre has two FBG sensors to detect small strain changes at two different cross-sections. The modelling process is explained in detail, and a learning-based measurement decoupling method is also provided. In vitro experiments are performed to collect cellular images with simultaneous force and torque sensing, demonstrating the practical value of the technique.

内镜检查是一种新兴的非侵入性技术，可实时诊断腔内恶性肿瘤。为了在体内对成像探头进行精确的显微操纵，已开发出一种微型连续操纵器来进行大面积光学活检。为了使图像保持聚焦，需要在成像探针尖端和目标组织之间以适当的力和方向持续接触。本文提出了一种基于螺旋FBG传感器的传感方法，可以同时测量与组织接触时施加在探头尖端的力和扭矩。该实施例由具有中空的用于容纳成像探针的内腔的锥形基板以及在基板的外表面上均匀且螺旋分布的三根光纤组成。每根光纤都有两个FBG传感器，以检测两个不同横截面处的微小应变变化。详细说明了建模过程，还提供了基于学习的测量解耦方法。进行体外实验以同时检测力和扭矩来收集细胞图像，证明了该技术的实用价值。