为解决微创手术软体机器人的形状实时监测问题,将刻有三个光纤布拉格光栅的单根光纤植入软体操作器中,利用其研究柔性硅胶软体操作器光纤传感和三维形状重构方法。进行了软体操作器的结构设计及模型建立,并对光纤光栅波长漂移量和软体操作器弯曲曲率之间的关系进行了理论分析; 通过实验验证了软体操作器结构设计及其模型建立的有效性,测试了软体操作器不同弯曲状态下三个FBG传感器的反射谱特征及其变化规律; 通过分析三个FBG传感器的中心波长漂移量,利用线性插值算法计算出软体操作器在不同弯曲状态下的曲率等参数,并结合曲线拟合方法实现软体操作器的三维形状重构。实验结果表明：植入式光纤光栅传感方法可以实现硅胶软体手术操作器的三维形状传感,在微创外科手术领域具有广阔的应用前景。

In order to solve the problem of real-time shape monitoring of minimally invasive surgical soft robot, a single optical fiber with three Fiber Bragg Grating (FBG) was embedded in the soft manipulator to research the optical sensing and three-dimensional shape reconstruction methods of flexible silica gel soft manipulator . Firstly, the structure of the soft manipulator were designed and modeled, and the relationship between wavelength shift and bending curvature of the soft manipulator was analyzed theoretically. Then experiments were carried out to verify the effectiveness of the structure design and model establishment of the soft manipulator, and the reflection spectrum characteristics and state variation rules of three FBG sensors under different bending states of the soft manipulator were tested. Finally, the curvature parameters of the soft driver in different bending states were calculated by the central wavelength shift and linear interpolation of the three FBG sensors, and the three-dimensional shape reconstruction of soft manipulator was realized by curve fitting method. The experimental resulted show that the implantable fiber Bragg grating sensing method can realize three-dimensional shape sensing of silicone soft manipulator, which has a broad application prospect in the field of minimally invasive surgery.