中文摘要：

通过基于光纤光栅（FBG）传感网络的内窥镜空间形状实时检测系统的搭建，提供了一种新型的内窥镜形状的感知手段。针对内窥镜形状感知的具体要求，进行了光纤光栅大曲率传感器原理研究以及微小尺寸光纤光栅传感网络设计。在不改变内窥镜的结构的前提下，将光纤光栅传感网络介入其固有手术钳道，通过传感网络感知内窥镜上多个离散点空间曲率变化，利用离散曲率形状重建算法重构出内窥镜形状。在此基础上搭建了智能内窥镜实时形状感知系统，给出了数据处理方法和动物试验结果。

英文摘要：

A novel slim FBG （Fiber Bragg grating） sensor device and its application in the real-time dynamic shape detection of colonoscope are presented. The sensing network device comprises a plurality of FBG sensors mounted on the body of a slim flexible wire. After the colonoscope is advanced in the body, the wire is pushed through the biopsy channel of the colonoscope. It bends with the curvature of the colonoscope. The FBG sensors capture deformation of the sensor wire, and reconstruct the shape of colonoscope. Experiments in the colon of a live swine have been done, Configuration of experimental system and experimental result are also given.