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CN-122016146-A - Calibration device and method for sub-millimeter surgical instrument head end force sensor based on FBG

CN122016146ACN 122016146 ACN122016146 ACN 122016146ACN-122016146-A

Abstract

The invention discloses a calibration device and method of a sub-millimeter surgical instrument head end force sensor based on FBG. The device comprises a computer, a positioning plate, an XYZ-direction precise linear sliding table, an XY-direction BOTA supporting table, BOTA force sensor contacts, BOTA force sensors, FBG force sensor clamps, an FBG force sensor supporting table, an R-direction rotating sliding table, a Z-direction large-range linear sliding table, an FBG demodulator and a Z-direction BOTA supporting table. The method is realized by adopting the calibration device of the FBG-based sub-millimeter surgical instrument head end force sensor. The invention realizes complete decoupling of three-dimensional force and temperature on the calibration mechanism, and breaks through the dimension limitation of the traditional calibration. According to the invention, the optical fiber sensor is driven to rotate by the R-direction rotating sliding table, so that the lateral force calibration flow is greatly simplified, and the mechanical error and the operation difficulty are remarkably reduced. The invention realizes low-cost full-dimension high-precision calibration.

Inventors

  • YANG ZHIYONG
  • CHEN RUIQI
  • JIANG SHAN
  • ZHOU ZEYANG
  • Ding Zhanfa

Assignees

  • 天津大学

Dates

Publication Date
20260512
Application Date
20260206

Claims (10)

  1. 1. The calibrating device of the sub-millimeter surgical instrument head end force sensor based on the FBG is characterized by comprising a computer (1), a positioning plate (2), an XYZ-direction precise linear sliding table, an XY-direction BOTA supporting table (6), BOTA force sensor contacts (7), a BOTA force sensor (8), an FBG force sensor (9), an FBG force sensor clamp (10), an FBG force sensor supporting table (11), an R-direction rotating sliding table (12), a Z-direction large-range linear sliding table (13), an FBG demodulator (14) and a Z-direction BOTA supporting table (15); The X, Y and Y directions BOTA supporting table (6) or the Z directions BOTA supporting table (15) is detachably fixed on the positioning plate (2) and used for realizing X, Y, Z small-range precise adjustment of the BOTA force sensor (8) when the X, Y and Y directions or the Z directions of the FBG force sensor (9) are calibrated, the BOTA force sensor (8) is fixed on the X, Y directions BOTA supporting table (6) or the Z directions BOTA supporting table (15) and used for measuring standard force values of the FBG force sensor (9) in different directions, and the BOTA force sensor contact (7) is arranged on the BOTA force sensor (8); The housing of the Z-direction large-range linear sliding table (13) is fixed on the positioning plate (2) and is used for performing Z-direction large-range rough adjustment on the position of the FBG force sensor (9); the device comprises a shell of an R-direction rotating sliding table (12), an FBG force sensor support table (11), an FBG force sensor clamp (10), an FBG force sensor (9) and an FBG demodulator (14), wherein the shell of the R-direction rotating sliding table (12) is fixed on the output end of a Z-direction large-range linear sliding table (13) and is used for adjusting the angle of the FBG force sensor (9), the FBG force sensor support table (11) is fixed on the output end of the R-direction rotating sliding table (12) and can rotate along the R-direction rotating sliding table (12), the FBG force sensor clamp (10) is fixed on the FBG force sensor support table (11), the FBG force sensor (9) is detachably fixed in the FBG force sensor clamp (10), the FBG force sensor (9) is in communication connection with the FBG demodulator (14), and the FBG demodulator (14) demodulates the FBG force sensor (9) to generate central wavelength drift when receiving different directional forces and temperature changes; The computer (1) is respectively connected with the FBG demodulator (14) and the BOTA force sensor (8) in a communication way.
  2. 2. The calibration device of the sub-millimeter surgical instrument head end force sensor based on the FBG, which is characterized in that the XYZ-direction precise linear sliding table consists of a Y-direction precise linear sliding table (3), an X-direction precise linear sliding table (4) and a Z-direction precise linear sliding table (5), wherein the Y-direction precise linear sliding table (3), the X-direction precise linear sliding table (4) and the Z-direction precise linear sliding table (5) are sequentially connected, a shell of a sliding table at the lowest layer of the three is fixed on a positioning plate (2), and an XY-direction BOTA supporting table (6) or a Z-direction BOTA supporting table (15) is fixed at the output end of the sliding table at the highest layer.
  3. 3. The calibration device of the head end force sensor of the sub-millimeter surgical instrument based on the FBG, which is characterized in that the movement range of the X-direction precise linear sliding table (4) and the Y-direction precise linear sliding table (3) is +/-6.5 mm, the precision is 0.01mm, the movement range of the Z-direction precise linear sliding table (5) is 10mm, the precision is 0.01mm, the coarse adjustment movement range of the R-direction rotating sliding table (12) is 360 degrees, the coarse adjustment precision is 1 degree, the fine adjustment movement range is 5 degrees, the fine adjustment precision is 0.003 degrees, the movement range of the Z-direction large-range linear sliding table (13) is 160mm, and the precision is 1mm; The BOTA force sensor (8) uses serial communication, the measuring ranges of F x and F y are 80N, the precision is 150mN, the measuring range of F z is 100N, and the precision is 100mN; the FBG demodulator (14) uses UDP network communication, the demodulation wavelength range is 1521-1568 nm, the precision is 1pm, and the channel number is 4.
  4. 4. The calibration device of the FBG-based sub-millimeter surgical instrument head end force sensor according to claim 1, characterized in that the FBG force sensor (9) comprises a sensor ball head (9.1), a packaging shell (9.2), a sensor fixing structure (9.3), a medical guide wire (9.4), a first FBG (9.5), a second FBG (9.6), a third FBG (9.7) and a fourth FBG (9.8); The medical guide wire (9.4) is arranged in a central hole of the packaging shell layer (9.2), initial central wavelengths of the first FBG (9.5) and the third FBG (9.7) are the same, initial central wavelengths of the second FBG (9.6) and the fourth FBG (9.8) are the same, the first FBG (9.5), the second FBG (9.6), the third FBG (9.7) and the fourth FBG (9.8) are respectively arranged in four FBG holes around the packaging shell layer (9.2), the distance between every two adjacent FBGs is 90 DEG, each FBG is the same with the central medical guide wire (9.4), the first FBG (9.5), the second FBG (9.6), the third FBG (9.7), the fourth FBG (9.8), the medical guide wire (9.4) and the packaging shell layer (9.2) are aligned, the first FBG (9.5), the second FBG (9.6), the third FBG (9.7), the fourth FBG (9.8) and the packaging shell layer (9.2) are fixed, and the first FBG (9.5), the second FBG (9.6), the fourth FBG (9.8) and the fourth FBG (9.8) are fixedly connected with the medical guide wire (9.4) through the first FBG, the second FBG and the fourth FBG and the medical guide wire (9 wire; Preferably, the diameter of the medical guide wire (9.4) is 360 mu m, the diameters of the first FBG (9.5), the second FBG (9.6), the third FBG (9.7) and the fourth FBG (9.8) are 150 mu m, the initial central wavelengths of the first FBG (9.5) and the third FBG (9.7) are 1535nm, the initial central wavelengths of the second FBG (9.6) and the fourth FBG (9.8) are 1550nm, the diameter of the packaging shell layer (9.2) is 800 mu m, 5 through holes are distributed on the packaging shell layer, the medical guide wire hole is arranged in the center, and the FBG holes are arranged at the periphery.
  5. 5. The calibration device of an FBG-based sub-millimeter surgical instrument head end force sensor according to claim 1, characterized in that the FBG force sensor clamp (10) comprises a boss structure (10.1), a support structure (10.2) and a clip structure (10.3); The boss structure (10.1) is detachably fixed in a clamping groove hole of the FBG force sensor supporting table (11) and is used for providing positioning and complete fixing on the FBG force sensor supporting table (11) so as to fix the FBG force sensor (9), the supporting structure (10.2) is used for connecting the clamping piece structure (10.3) and the boss structure (10.1), a through hole is formed in the axis of the clamping piece structure (10.3) and is used for ensuring normal penetration of the FBG force sensor (9), and the clamping piece structure (10.3) is used for being fastened through the penetration hole when the FBG force sensor (9) extends out for 3.2-4 mm.
  6. 6. A method for calibrating an FBG-based sub-millimeter surgical instrument head end force sensor, which is characterized in that the method is realized by adopting the calibrating device of the FBG-based sub-millimeter surgical instrument head end force sensor according to any one of claims 1-5, and comprises the following steps: Step 1, penetrating a medical guide wire (9.4) into a central hole of a packaging shell layer (9.2), penetrating a first FBG (9.5), a second FBG (9.6), a third FBG (9.7) and a fourth FBG (9.8) into the packaging shell layer (9.2), wherein two adjacent FBGs are separated by 90 degrees and the four FBGs are positioned on the same circumference, and aligning the heads of the first FBG (9.5), the second FBG (9.6), the third FBG (9.7), the fourth FBG (9.8), the medical guide wire (9.4) and the packaging shell layer (9.2); Step 2, fixing the tail ends of the first FBG (9.5), the second FBG (9.6), the third FBG (9.7), the fourth FBG (9.8), the medical guide wire (9.4) and the packaging shell layer (9.2) to form a sensor fixing structure (9.3), and then vertically placing the whole body, and solidifying to form a sensor ball head (9.1) to obtain the FBG force sensor (9); step 3, penetrating the FBG force sensor (9) into the FBG force sensor clamp (10), exposing the head of the FBG force sensor (9) outside the FBG force sensor clamp (10), then fixing the FBG force sensor (9), then loading the FBG force sensor clamp (10) into the FBG force sensor bracket (11), and fixing the FBG force sensor clamp (10); Step 4, adjusting a Z-direction large-range linear sliding table (13) to enable the head end of the FBG force sensor (9) to be close to the spherical head end of the BOTA force sensor contact (7), then finely adjusting the X-direction precise linear sliding table (4) and the Y-direction precise linear sliding table (3) to enable the spherical head end of the BOTA force sensor contact (7) to be positioned right above the head end of the FBG force sensor (9), then finely adjusting the spherical head ends of the Z-direction precise linear sliding tables (5) to BOTA force sensor contacts (7) to be in contact with the head end of the FBG force sensor (9), judging the contact condition of the spherical head end of the BOTA force sensor contact (7) and the head end of the FBG force sensor (9) through the demodulated delta lambda i (i=1, 2,3, 4), finishing when the adjustment is carried out until delta lambda 1 、Δλ 2 、Δλ 3 and delta lambda 4 are just 0, and enabling the spherical head end of the BOTA force sensor contact (7) to be in contact with the head end of the FBG force sensor (9) and not stressed, wherein delta lambda 1 、Δλ 2 、Δλ 3 、Δλ 4 is the central wavelength drifting of the first FBG (9.5), the second FBG (9.6), the third FBG and the fourth FBG (9.8) respectively; Step 5, continuously rotating the R-direction rotating sliding table (12), and simultaneously enabling the head end of the FBG force sensor (9) to bear force by finely adjusting the Z-direction precise linear sliding table (5), wherein when delta lambda 1 and delta lambda 3 are opposite in number and delta lambda 1 are positive, delta lambda 2 is the same as delta lambda 4 , and delta lambda 1 、Δλ 2 、Δλ 3 and delta lambda 4 are both in a drift interval of-10 pm to 10pm, at the moment, the spherical head end of the BOTA force sensor contact (7) is just positioned right above a first FBG (9.5) of the FBG force sensor (9), and positioning of the first FBG (9.5) is completed; Step 6, after the first FBG (9.5) is positioned, taking the absolute value of F z of the BOTA force sensor (8) as the F x value of the FBG force sensor (9) at the moment, marking as F x + to obtain a group of (F x +,Δλ 1 ,Δλ 2 ,Δλ 3 ,Δλ 4 ) data, repeatedly trimming the Z-direction precise linear sliding table (5) on the premise that the delta lambda 1 and the delta lambda 3 are opposite in number and the delta lambda 1 are positive, the delta lambda 2 is the same as the delta lambda 4 , and the delta lambda 1 、Δλ 2 、Δλ 3 and the delta lambda 4 are both in a drift interval of-180 pm to 180pm, and obtaining and recording at least n-1 groups of F x + and corresponding delta lambda 1 、Δλ 2 、Δλ 3 and delta lambda 4 to obtain at least n groups of (F x +,Δλ 1 ,Δλ 2 ,Δλ 3 ,Δλ 4 ) data; Step 7, rotating the 12 sliding table by 90 degrees, 180 degrees and 270 degrees in the same direction by rotating the R direction, and correspondingly obtaining at least n groups of (F y +,Δλ 1 ,Δλ 2 ,Δλ 3 ,Δλ 4 ) data, at least n groups of (F x -,Δλ 1 ,Δλ 2 ,Δλ 3 ,Δλ 4 ) data and at least n groups of (F y -,Δλ 1 ,Δλ 2 ,Δλ 3 ,Δλ 4 ) data by adopting the method of step 6; Step 8, replacing the XY-direction BOTA supporting table (6) with the Z-direction BOTA supporting table (15), adjusting the Z-direction large-range linear sliding table (13) to enable the head end of the FBG force sensor (9) to be close to the spherical head end of the BOTA force sensor contact (7), finely adjusting the spherical head ends of the X-direction precise linear sliding tables (4) to BOTA force sensor contacts (7) to contact the head end of the FBG force sensor (9), judging the contact condition of the spherical head end of the BOTA force sensor contact (7) and the head end of the FBG force sensor (9) through the demodulated delta lambda i (i=1, 2,3, 4), and ending when the adjustment is carried out until the delta lambda 1 、Δλ 2 、Δλ 3 and delta lambda 4 are just 0, and enabling the spherical head end of the BOTA force sensor contact (7) to be in contact with the head end of the FBG force sensor (9) and not stressed; Step 9, fine-tuning the Y-direction precise linear sliding table (3) and the Z-direction precise linear sliding table (5) to enable the axis of the BOTA force sensor contact (7) to be collinear with the axis of the FBG force sensor (9), and then enabling the head end of the FBG force sensor (9) to bear force through fine-tuning the X-direction precise linear sliding table (4), wherein when delta lambda 1 、Δλ 2 、Δλ 3 and delta lambda 4 are the same negative value and delta lambda 1 、Δλ 2 、Δλ 3 and delta lambda 4 are both in a drift interval of-10 pm to 10pm, the BOTA force sensor contact (7) is just located at the axis of a medical guide wire (9.4) of the FBG force sensor (9), and positioning of the FBG force sensor (9) is completed; Step 10, after the positioning of the FBG force sensor (9) is completed, taking the absolute value of F z of the BOTA force sensor (8) as the F z value of the FBG force sensor (9) at the moment, marking as F z -, and obtaining a group of (F z -,Δλ 1 、Δλ 2 、Δλ 3 ,Δλ 4 ) data, repeatedly fine-adjusting the X-direction precise linear sliding table (4) on the premise that delta lambda 1 、Δλ 2 、Δλ 3 、Δλ 4 is the same negative value and delta lambda 1 、Δλ 2 、Δλ 3 and delta lambda 4 are all in a drift interval of-250 pm to 20pm, and obtaining and recording at least n-1 groups of F z -, corresponding delta lambda 1 、Δλ 2 、Δλ 3 and delta lambda 4 , and obtaining at least n groups of (F z -,Δλ 1 、Δλ 2 、Δλ 3 ,Δλ 4 ) data; Step 11, detaching the FBG force sensor (9) from the FBG force sensor clamp (10), placing the FBG force sensor in an environment with variable temperature, recording the change quantity delta T of the environment temperature and corresponding delta lambda 1 、Δλ 2 、Δλ 3 and delta lambda 4 every 1 time the temperature T is changed, obtaining a group of (delta T, delta lambda 1 ,Δλ 2 ,Δλ 3 ,Δλ 4 ) data, and obtaining at least n groups of (delta T, delta lambda 1 ,Δλ 2 ,Δλ 3 ,Δλ 4 ) data altogether; Step 12, deducing a theoretical calibration model of the FBG three-dimensional force sensor: Based on the Euler-Bernoulli beam theory, when the head end of the FBG force sensor (9) is subjected to a transverse force F, there are: (1) In the formula (1), epsilon bend is radial strain, L is the effective length of a sensing section, y is the vertical distance between the fiber core of the FBG and a neutral axis, E is the Young modulus of the flexible structure, and R is the outer radius of the flexible structure; Based on the composite stiffness model, when the head end of the FBG force sensor (9) is subjected to an axial force F z , the following steps are provided: (2) In the formula (2), epsilon z is axial strain, k fh is the axial rigidity of the first FBG (9.5), the second FBG (9.6), the third FBG (9.7) and the fourth FBG (9.8), and k fl and k gu are the axial rigidity of the packaging shell layer (9.2) and the medical guide wire (9.4) respectively; The formula of the FBG center wavelength drift is as follows: (3) In the formula (3), deltaλ i is the center wavelength drift amount of the first FBG (9.5), the second FBG (9.6), the third FBG (9.7) and the fourth FBG (9.8), i=1, 2,3,4, lambda i is the initial center wavelength of the first FBG (9.5), the second FBG (9.6), the third FBG (9.7) and the fourth FBG (9.8), i=1, 2,3,4, K ε is the strain sensitivity coefficient of the optical fiber, K ε =1-P e ,P e is the effective elastic light coefficient, K Ti is the temperature sensitivity coefficients of the first FBG (9.5), the second FBG (9.6), the third FBG (9.7) and the fourth FBG (9.8), i=1, 2,3,4, deltaT is the ambient temperature variation amount; Based on the formula of the shift amount of the center wavelength of the FBG, the first FBG (9.5), the second FBG (9.6), the third FBG (9.7) and the fourth FBG (9.8) have the following functions under the actions of F x 、F y 、F z and Δt: (4) In the formula (4), r is the vertical distance between the fiber core of the FBG in the main sensing direction and the neutral axis, d is the vertical distance between the fiber core of the FBG in the secondary sensing direction and the neutral axis, and F x 、F y 、F z is the external force applied along the x, y and z axis directions respectively; Since the initial center wavelengths of the first FBG (9.5) and the third FBG (9.7) are the same, and the initial center wavelengths of the second FBG (9.6) and the fourth FBG (9.8) are the same, the first FBG (9.5) and the third FBG (9.7), and the second FBG (9.6) and the fourth FBG (9.8) are respectively subjected to difference and summation, and a theoretical calibration model of the FBG three-dimensional force sensor is obtained as shown in formula (5): (5) and 13, solving and obtaining real-time resolving three-dimensional force based on the theoretical calibration model of the FBG three-dimensional force sensor obtained in the step 12 and experimental data obtained in actual measurement.
  7. 7. The calibration method according to claim 6, wherein the step 2 is specifically characterized in that a proper amount of photo-curing glue is dipped by using a pair of pointed forceps, the photo-curing glue is dotted at the tail end of the packaging shell (9.2), and the photo-curing glue is irradiated and solidified by using an ultraviolet lamp, so that the tail ends of the first FBG (9.5), the second FBG (9.6), the third FBG (9.7), the fourth FBG (9.8), the medical guide wire (9.4) and the packaging shell (9.2) are fixed to form a sensor fixing structure (9.3), and then the whole body is vertically placed, so that the head end of the packaging shell (9.2) is dipped with the proper amount of photo-curing glue, and after the head end is naturally formed into a ball head, the ball head (9.1) of the sensor is formed by irradiation and solidification of the ultraviolet lamp.
  8. 8. The calibration method according to claim 6, characterized in that in step 3, the head of the FBG force sensor (9) is exposed 3.2-4 mm outside the FBG force sensor clamp (10).
  9. 9. The calibration method according to claim 6, wherein step 7 specifically comprises: At the position of the step 6, rotating the 12 sliding table by 90 degrees anticlockwise, taking the absolute value of F z of the BOTA force sensor (8) as the F y value of the FBG force sensor (9) at the moment, adding a plus sign before the value, marking as F y + to obtain one group of (F y +,Δλ 1 ,Δλ 2 ,Δλ 3 ,Δλ 4 ) data, repeatedly trimming the Z-direction precise linear sliding table (5) on the premise that delta lambda 2 and delta lambda 4 are opposite numbers and delta lambda 2 is positive and delta lambda 1 is the same as delta lambda 3 and delta lambda 1 、Δλ 2 、Δλ 3 and delta lambda 4 are both in a drift interval of-180 pm to 180pm, and obtaining and recording at least n groups of F y + and corresponding delta lambda 1 、Δλ 2 、Δλ 3 and delta lambda 4 (F y +,Δλ 1 ,Δλ 2 ,Δλ 3 ,Δλ 4 ) data; At the position of the step 6, rotating the 12 sliding table 180 degrees anticlockwise, taking the absolute value of F z of the BOTA force sensor (8) as the F x value of the FBG force sensor (9) at the moment, adding a number in front of the value, marking as F x -, and obtaining a group of (F x -,Δλ 1 ,Δλ 2 ,Δλ 3 ,Δλ 4 ) data, repeatedly trimming the Z-direction precise linear sliding table (5) on the premise that delta lambda 1 and delta lambda 3 are opposite numbers and delta lambda 3 is positive, delta lambda 2 is the same as delta lambda 4 , and delta lambda 1 、Δλ 2 、Δλ 3 and delta lambda 4 are both in a drift interval of-180 pm to 180pm, and obtaining and recording at least n groups of F x -, corresponding delta lambda 1 、Δλ 2 、Δλ 3 and delta lambda 4 (F x -,Δλ 1 ,Δλ 2 ,Δλ 3 ,Δλ 4 ) data; At the position of the step 6, rotating the 12 sliding table in the anticlockwise direction for 270 degrees, taking the absolute value of F z of the BOTA force sensor (8) as the F y value of the FBG force sensor (9) at the moment, adding a number in front of the value, marking as F y -, obtaining one group of (F y -,Δλ 1 ,Δλ 2 ,Δλ 3 ,Δλ 4 ) data, and repeatedly trimming the Z-direction precise linear sliding table (5) on the premise that the delta lambda 2 and the delta lambda 4 are opposite in number and the delta lambda 4 are positive, the delta lambda 1 is the same as the delta lambda 3 , and the delta lambda 1 、Δλ 2 、Δλ 3 and the delta lambda 4 are in a drift interval of-180 pm to 180pm, obtaining and recording at least n groups of F y -, corresponding delta lambda 1 、Δλ 2 、Δλ 3 and delta lambda 4 , and obtaining at least n groups of (F y -,Δλ 1 ,Δλ 2 ,Δλ 3 ,Δλ 4 ) data.
  10. 10. The method according to claim 6, wherein in step 11, the ambient temperature change amount is 0< Δt+≤5 each time; in steps 6 to 11, n=15.

Description

Calibration device and method for sub-millimeter surgical instrument head end force sensor based on FBG Technical Field The invention belongs to the technical field of minimally invasive medical instruments and optical fiber sensing, and particularly relates to a calibration device and method of a sub-millimeter surgical instrument head end force sensor based on FBG. Background Cardiovascular and cerebrovascular diseases become one of the main diseases threatening human health, and minimally invasive vascular interventional operations have become the main treatment means for such diseases due to the advantages of rapid recovery, small trauma and the like. Along with the rapid development of medical robot technology, vascular interventional operation robots are gradually applied to clinics, assist doctors to conduct high-precision guide wire and catheter operation, and effectively reduce the exposure time of medical staff under X rays. However, the existing vascular interventional operation robots mostly adopt a master-slave operation mode, and the direct perception of the contact force of the hands of a doctor to the tail end of the guide wire is cut off although the physical isolation between the doctor and a patient is realized. In a complicated tortuous vascular path, lack of distal force tactile feedback is extremely easy to cause that a doctor cannot accurately judge the contact state of an instrument and a vascular wall, the risk of complications in vascular perforation, interlayer and the like is increased, and the safety and the popularization rate of the surgical robot are seriously restricted. In order to solve the above problems, the development of a force sensor having a sub-millimeter size and capable of being integrated into the head end of a surgical instrument has become a research hotspot. Among the sensing technologies, the fiber bragg grating (Fiber Bragg Gratings, abbreviated as FBG) sensor is considered to be an ideal scheme for realizing the force sensing of the intravascular minimally invasive instrument by virtue of the natural advantages of small diameter (reaching micron level), electromagnetic interference resistance, good biocompatibility, high sensitivity and the like. By integrating the FBG sensing array at the head end of the guide wire or the catheter, the real-time monitoring of the three-dimensional contact force of the head end of the instrument can be realized theoretically, and key tactile navigation information is provided for doctors. Although FBG-based miniature force sensor designs are endless, calibration techniques for sub-millimeter FBG force sensors still face many challenges. Firstly, the alignment problem caused by the size effect is that the diameter of an interventional surgical instrument (such as a guide wire) is usually less than 1 millimeter, and standardized three-dimensional force load is applied on the tiny scale, so that extremely high requirements are placed on the mechanical precision and the clamping stability of the calibrating device. The conventional large-scale mechanical test platform is difficult to realize micron-scale alignment fine adjustment, and calibration errors are easy to generate due to alignment deviation. Secondly, the cross sensitivity problem is that the FBG sensor is sensitive to strain and temperature at the same time, and the wavelength drift can be directly caused by the change of the blood temperature in the body in the interventional operation process, so that the measurement result of the force is interfered. The existing calibration method is often used for simply carrying out mechanical test in a constant temperature environment, and the lack of an integrated temperature compensation calibration link leads to the distortion of measurement data of the sensor in an actual variable temperature environment. Finally, the limitation of calibration dimension is that most of the existing micro sensor calibration devices can only carry out simple loading of a one-way or two-dimensional plane (for example, literature "Shi C, Li T, Ren H. A Millinewton Resolution Fiber Bragg Grating-Based Catheter Two-Dimensional Distal Force Sensor for Cardiac Catheterization [J]. IEEE Sensors Journal, 2018, 18(4): 1539-1546."）, is difficult to simulate the complex stress condition of a guide wire in a blood vessel from all directions, and the lack of an omnibearing multidimensional calibration matrix leads to insufficient accuracy of a decoupling algorithm of the sensor in an actual three-dimensional space and cannot meet the requirement of clinical operation on high-accuracy force feedback. In view of this, there is an urgent need for a calibration device and method of FBG force sensors that integrate high-precision multidimensional displacement adjustment and temperature compensation functions, dedicated to the head end of a sub-millimeter surgical instrument. Disclosure of Invention Aiming at the defects of the prior art, the invention provid