The sensor incorporates a specially designed layered elastic structure, achieving miniaturization, structural self-decoupling, and high-sensitivity 3-D force measurement through a cleverly compact spatial design and a reasoned layout of 5 FBGs. To reduce the risk of soft tissue being damaged and to enhance the intelligent control strategy of the puncture robot, this paper designs a three-dimensional force sensor based on fiber Bragg gratings. 7 million patients globally ( ). A common treatment of AFib is through ablation and scarring of cardiac tissue with the aim of impeding occurrences of irregular contraction waves ( ). Introduction Puncture surgery has the advantages of minimal trauma, quick recovery and rapid surgical procedure. It has become the first choice for current clinical treatments and has an extremely wide range of applications [1,2].
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