CN113702020B - Endoscopic surgery instrument force transmission coefficient testing device - Google Patents
Endoscopic surgery instrument force transmission coefficient testing device Download PDFInfo
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- CN113702020B CN113702020B CN202111018405.4A CN202111018405A CN113702020B CN 113702020 B CN113702020 B CN 113702020B CN 202111018405 A CN202111018405 A CN 202111018405A CN 113702020 B CN113702020 B CN 113702020B
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- 238000012360 testing method Methods 0.000 title claims abstract description 90
- 230000005540 biological transmission Effects 0.000 title claims abstract description 29
- 238000002674 endoscopic surgery Methods 0.000 title claims description 11
- 238000005259 measurement Methods 0.000 claims abstract description 12
- 210000000078 claw Anatomy 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 230000001174 ascending effect Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 8
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 230000000149 penetrating effect Effects 0.000 description 3
- 238000012935 Averaging Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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Abstract
The invention relates to a force transmission coefficient testing device of an endoscopic surgical instrument, which belongs to the technical field of medical instrument detection equipment and comprises a testing table and a testing host, wherein an input module and an output module are respectively arranged on the left side and the right side of the testing table, the input module comprises a first force sensor, the output module at least comprises two second force sensors, the two second force sensors can adjust front and rear positions and angle positions, an accommodating space is formed between measuring ends of the two second force sensors, and pull rings are respectively detachably fixed at the measuring ends of the two second force sensors. The invention can judge the measured error by analyzing the difference between the two output force values, and can ensure the measured error to be in a reasonable range by adjusting the position of the second force sensor, thereby greatly improving the stability and accuracy of measurement.
Description
Technical Field
The invention relates to a force transmission coefficient testing device for endoscopic surgical instruments, and belongs to the technical field of medical instrument detection equipment.
Background
Endoscopic surgical instruments are widely used in minimally invasive surgery, and endoscopic surgical forceps are common. The endoscope operation forceps are different from the common operation instruments, are operated in a long and narrow pipeline, belong to remote operation, and have more complex input and output relation than the common operation instruments. The force transmission coefficient is the ratio of the input force value at the handle to the output force value of the clamp head, and reflects the exertion hand feeling of a doctor in clinic. The prior Chinese patent number is 201910477727.1, the patent name is a patent of an endoscopic surgery forceps force transmission coefficient testing device, and the endoscopic surgery forceps force transmission coefficient testing device comprises a force applying module, a first force sensor clamp module, a second force sensor clamp module and a data module, wherein the force applying module, the first force sensor and the first force sensor clamp module are arranged at a handle, the second force sensor and the second force sensor clamp module are arranged at a forceps head. It also has the following disadvantages: because two output force values can be generated by two jaws in the clamp head, one of the output force values is simply used as the output force value of the clamp head, so that the measurement error is difficult to judge, and the measurement stability and accuracy are poor.
Disclosure of Invention
The invention aims to provide a force transmission coefficient testing device for an endoscopic surgical instrument, which solves the problems in the prior art that two output force values are generated by two jaws in a clamp head, and one of the output force values is simply used as the output force value of the clamp head, so that the measurement error is difficult to judge, the measurement stability and accuracy are poor, and the like.
The technical aim of the invention is mainly solved by the following technical scheme: the utility model provides an endoscope surgical instrument force transmission coefficient testing arrangement for measure endoscope surgical instrument's force transmission coefficient, endoscope surgical instrument includes movable handle, fixed handle, clamp lever and two clamp claws, testing arrangement includes testboard and the test host computer of controlling extension, the last left and right sides of testboard is equipped with input module and output module respectively, input module is including the activity place first force sensor on the testboard, output module includes two back-and-forth interval and the second force sensor of symmetry setting at least, two the second force sensor can carry out the adjustment of front and back position and angular position, two be formed with between the measuring terminal of second force sensor and supply two clamp claws to stretch into accommodation space, two the measuring terminal of second force sensor detachably respectively is fixed with the pull ring, first force sensor with second force sensor respectively with the test host computer links to each other.
When the device is used, an operator firstly horizontally places an endoscopic surgical instrument to be tested on a test bench, enables two jaws of the endoscopic surgical instrument to extend into an accommodating space, simultaneously enables the two jaws to be symmetrically opened and respectively penetrate through inner holes of a pull ring, then respectively adjusts front and back positions and angle positions of two second force sensors, enables the hole wall of the inner hole of the pull ring to be attached to the inner end of a corresponding jaw, then manually places a first force sensor in a finger ring of a movable handle, enables fingers to extend into the finger ring of a fixed handle and fix the finger ring, then enables the fingers to act on the first force sensor, enables the movable handle to have a anticlockwise rotation trend through the detection end of the first force sensor, and accordingly enables the two jaws to have a closed trend, the first force sensor transmits an input force value F i at the movable handle to the test host, the second force sensor transmits two output force values F 01 and F 02 at the clamp head to the test host, the output force values are closing force values perpendicular to the opening angle bisector direction of the two clamp claws, the test host analyzes the F 01 and the F 02 to judge whether the difference between the F 01 and the F 02 is larger than 1N, when the difference is smaller than 1N, the F 01 and the F 02 are averaged to obtain F 0, then F 0/Fi is obtained through least square fitting to obtain a closing force transmission coefficient, when the difference is larger than 1N, the display screen of the test host displays information to prompt an operator to adjust the position of the second force sensor until the difference between the F 01 and the F 02 is smaller than 1N, and then the average value is obtained to obtain F 0;
after the measurement is finished, the pull ring is detached, the front and back positions and the angle positions of the two second force sensors are respectively adjusted, the detection ends of the second force sensors are attached to the outer ends of the corresponding jaws, the steps are repeated, the movable handles are forced to have a clockwise rotation trend through the detection ends of the first force sensors, so that the two jaws have an opening trend, the first force sensors transmit an input force value F i at the movable handles to a test host, the output force value is an opening force value perpendicular to the opening angle bisector direction of the two jaws at the moment, The second force sensor transmits the two output force values F 01 and F 02 at the clamp head to a test host, the test host analyzes F 01 and F 02, Judging whether the difference between the two is larger than 1N, when the difference is smaller than 1N, F 01 and F 02 are averaged to obtain F 0, then F 0/Fi is obtained by least square fitting, Namely, the expansion force transmission coefficient is that when the difference value is larger than 1N, the display screen of the test host computer displays information to prompt an operator to adjust the position of the second force sensor until the difference value between F 01 and F 02 is smaller than 1N, and then the average value is calculated to obtain F 0; The invention takes the average value of the two output force values generated by the clamp head as the output force value of the clamp head, can judge the measured error by analyzing the difference value between the two output force values, and can ensure that the measured error is in a reasonable range by adjusting the position of the second force sensor, thereby greatly improving the stability and accuracy of measurement, and can respectively measure the opening force transmission coefficient and the closing force transmission coefficient to better reflect the usability of the endoscopic surgical instrument.
Preferably, a positioning protrusion for positioning the fixed handle is fixedly arranged on the test bench, the positioning protrusion extends vertically upwards, and the shape of the positioning protrusion is matched with the inner shape of the finger ring on the fixed handle; through set firmly the location arch that is used for fixing a position fixed handle on the testboard, the protruding vertical upward extension of location, the bellied appearance of location and the interior shape looks adaptation of the ring on the fixed handle for when placing the endoscopic surgery apparatus level that awaits measuring on the testboard, can fix fixed handle through the cooperation between the ring hole on location arch and the fixed handle, operating personnel is applied force movable handle during the test of being convenient for, can realize the location of the handle part of endoscopic surgery apparatus on the horizontal direction simultaneously.
Preferably, the positioning protrusion is arranged in an elliptical table shape, and the cross section area of the positioning protrusion is gradually increased from top to bottom; through setting the location arch to oval platform form, the bellied cross section area from the top down increases gradually, and the location arch of being convenient for gets into the hole of ring on the fixed handle and fixes a position it.
Preferably, the test bench is fixedly provided with two positioning strips which are arranged at intervals in the front-back direction, the tops of the inner ends of the two positioning strips, which are close to each other, are arranged to be curved surfaces, the two positioning strips extend in parallel along the left-right direction, and a positioning groove for a clamp rod to slide through is formed between the two positioning strips; through set firmly the locating strip that two intervals set up around on the testboard, the inner top that two locating strips are close to each other sets up to the curved surface, two locating strips are along controlling direction parallel extension, be formed with the constant head tank that supplies the claw pole to slide and pass between two locating strips for when placing the endoscopic surgery apparatus level that awaits measuring on the testboard, the claw pole of endoscopic surgery apparatus can put into the constant head tank, thereby can realize the claw pole and in the orientation of fore-and-aft direction, so that test, the curved surface of the inner of locating strip can play the effect of direction in addition, be convenient for put into the constant head tank with the claw pole.
Preferably, a compression module for limiting the endoscope surgical instrument in the vertical direction is fixedly arranged on the test bench, and the compression module comprises a pressure head capable of lifting up and down; through set firmly the pressure module that is used for carrying out spacing to endoscope surgical instruments vertical direction on the testboard, the pressure module is including the pressure head that can reciprocate for when placing the endoscope surgical instruments level that awaits measuring on the testboard, can push down the endoscope surgical instruments that awaits measuring through the pressure head, thereby can realize the ascending location of endoscope surgical instruments vertical direction, so that carry out stable force value measurement, reduce the interference.
Preferably, the test bench is fixedly provided with a cushion block positioned on the right side of the positioning strip, the top of the cushion block is provided with a concave bearing groove, the bearing groove penetrates through the left end and the right end of the cushion block, and the longitudinal section of the bearing groove is U-shaped; through set firmly the cushion on the testboard on being located the locating strip right side, the cushion top is equipped with concave bearing groove, and the bearing groove runs through the left and right sides both ends of cushion, and the longitudinal section of bearing groove is the U type, can carry out the bearing to the binding clip department through the bearing groove, can effectively avoid taking place to rock owing to the length overlength of binding clip to carry out stable output force value measurement, can also further realize the location of binding clip in the fore-and-aft direction simultaneously.
Preferably, the test bench is provided with an avoidance groove positioned at the rear side of the positioning protrusion, and the avoidance groove penetrates through the upper end and the lower end of the test bench; the avoidance groove positioned at the rear side of the positioning protrusion is formed in the test table, the avoidance groove penetrates through the upper end and the lower end of the test table, other parts on the endoscopic surgical instrument can be avoided, the endoscopic surgical instrument can be horizontally placed, and the test is convenient.
Preferably, the output module further comprises two groups of supporting pieces for fixedly supporting the two second force sensors respectively, the two groups of supporting pieces are indirectly or directly supported on the test bench in a sliding manner, and the two groups of supporting pieces are respectively positioned at the outer ends of the two second force sensors which are far away from each other; the two groups of supporting pieces are respectively used for fixedly supporting the two second force sensors and are indirectly or directly supported on the test bench in a sliding mode, the two groups of supporting pieces are respectively located at the outer ends of the two second force sensors, which are far away from each other, so that the positions of the second force sensors can be adjusted by adjusting the positions of the supporting pieces, the opening force transmission coefficient and the closing force transmission coefficient can be respectively tested, the measuring error can be guaranteed to be in a reasonable range, and the positions of the two second force sensors can be independently adjusted, so that the device is convenient to use.
Preferably, each group of supporting pieces comprises a sliding seat slidably arranged on the test bench, a supporting plate extending vertically upwards is formed at the inner end of the sliding seat, the inner end of the supporting plate is fixedly connected with the corresponding non-measuring end of the second force sensor, the sliding seat is provided with a strip-shaped hole penetrating through the upper end and the lower end of the sliding seat, the strip-shaped hole extends along the front-back direction, a limiting rod is movably arranged in the strip-shaped hole in a penetrating way, one end of the limiting rod extends into the test bench from the bottom of the strip-shaped hole and is in threaded fit with the test bench, and a fixing sleeve abutting against the upper surface of the sliding seat is fixedly connected at the other end of the limiting rod extends out from the top of the strip-shaped hole; through being equipped with the slide that is located the testboard in support piece, the slide inner is formed with the backup pad of vertical upwards extending, the backup pad inner and the non-measuring end rigid coupling of corresponding second force transducer, the slide has the bar hole that runs through its upper and lower both ends, the bar hole extends along fore-and-aft direction, the interior activity of bar hole wears to be equipped with the gag lever post, gag lever post one end stretches into in the testboard from the bar hole bottom and rather than screw-thread fit, the gag lever post other end stretches out and the rigid coupling has the fixed cover with slide upper surface butt, make when the position of second force transducer needs to adjust, the operating personnel can make the gag lever post upwards unscrew from the testboard through rotating fixed cover, thereby make fixed cover and slide upper surface break away from the butt, then operating personnel can manual adjustment slide's front and back position and angular position, thereby can adjust second force transducer's front and back position and angular position.
Preferably, the second force sensor is detachably connected with the supporting plate; through setting up to dismantling between second force transducer and the backup pad and being connected, be convenient for maintain the change to second force transducer.
Therefore, the invention takes the average value of the two output force values generated by the clamp head as the output force value of the clamp head, can judge the measured error by analyzing the difference value between the two output force values, and can ensure that the measured error is in a reasonable range by adjusting the position of the second force sensor, thereby greatly improving the stability and accuracy of measurement, and can respectively measure the opening force transmission coefficient and the closing force transmission coefficient to better reflect the usability of the endoscopic surgical instrument.
Drawings
FIG. 1 is a schematic diagram of the front view of the present invention;
FIG. 2 is a schematic diagram of the operational state structure of the present invention for testing the closing force transmission coefficient;
FIG. 3 is an enlarged schematic view of the structure of FIG. 2A in accordance with the present invention;
FIG. 4 is a schematic view of the operating state structure of the present invention for testing the transmission coefficient of opening force;
FIG. 5 is an enlarged schematic view of the structure of FIG. 4B in accordance with the present invention;
FIG. 6 is a schematic perspective view of a positioning boss according to the present invention;
FIG. 7 is a schematic view of the distribution structure of the positioning strips in the present invention;
Fig. 8 is a schematic cross-sectional view of a pad of the present invention.
The index marks in the drawings are as follows: 1. a test bench; 2. testing a host; 3. an input module; 4. an output module; 5. a first force sensor; 6. a second force sensor; 7. an accommodation space; 8. a pull ring; 9. a support; 10. a slide; 11. a support plate; 12. a bar-shaped hole; 14. a limit rod; 15. a fixed sleeve; 16. positioning the bulge; 17. a positioning strip; 18. a positioning groove; 19. a compaction module; 20. a pressure head; 21. a cushion block; 22. and a supporting groove.
Detailed Description
The technical scheme of the invention is further specifically described below through examples and with reference to the accompanying drawings.
As shown in fig. 2,4 and 6, the force transmission coefficient testing device of the endoscopic surgical instrument is used for measuring the force transmission coefficient of the endoscopic surgical instrument, the endoscopic surgical instrument comprises a movable handle, a fixed handle, a clamp rod and two clamp claws, the testing device comprises a testing table 1 and a testing host 2, the testing table 1 is fixedly provided with a positioning protrusion 16 for positioning the fixed handle, the positioning protrusion 16 vertically extends upwards, the shape of the positioning protrusion 16 is matched with the inner shape of a finger ring on the fixed handle, the positioning protrusion 16 is in an elliptical table shape, the cross section area of the positioning protrusion 16 gradually increases from top to bottom, the testing table 1 is provided with an avoidance groove positioned at the rear side of the positioning protrusion 16, and the avoidance groove penetrates through the upper end and the lower end of the testing table 1.
As shown in fig. 2, 7 and 8, two positioning strips 17 are fixedly arranged on the test bench 1 at intervals, the tops of the inner ends, close to each other, of the two positioning strips 17 are curved surfaces or inclined surfaces, the two positioning strips 17 extend in parallel along the left-right direction, the vertical height of each positioning strip 17 is larger than the diameter of each clamp rod, a positioning groove 18 for the clamp rods to slide through is formed between the two positioning strips 17, a compression module 19 for limiting the vertical direction of an endoscopic surgical instrument is fixedly arranged on the test bench 1, the compression module 19 comprises a pressing head 20 capable of lifting up and down, a cushion block 21 positioned on the right side of each positioning strip 17 is fixedly arranged on the test bench 1, a concave bearing groove 22 is arranged at the top of each cushion block 21, each bearing groove 22 penetrates through the left end and the right end of each cushion block 21, and the longitudinal section of each bearing groove 22 is in a U shape.
As shown in fig. 1, fig. 3 and fig. 5, the left and right sides on the test bench 1 are respectively provided with an input module 3 and an output module 4, the input module 3 comprises a first force sensor 5 movably placed on the test bench 1, the output module 4 at least comprises two second force sensors 6 which are arranged at intervals and symmetrically, the two second force sensors 6 can be used for adjusting front and back positions and angle positions, an accommodating space 7 for two clamp claws to extend in is formed between measuring ends of the two second force sensors 6, measuring ends of the two second force sensors 6 are respectively and detachably fixed with a pull ring 8, the pull ring 8 is in a shape like a Chinese character 'hui', and the detachable connection mode is in threaded connection, and the first force sensor 5 and the second force sensor 6 are respectively connected with the test host 2.
As shown in fig. 3 and 5, the output module 4 further includes two sets of supporting members 9 for fixedly supporting the two second force sensors 6, the two sets of supporting members 9 are indirectly or directly supported on the test bench 1 in a sliding manner, the two sets of supporting members 9 are respectively located at outer ends of the two second force sensors 6 far away from each other, each set of supporting members 9 includes a sliding seat 10 slidably located on the test bench 1, a supporting plate 11 extending vertically upwards is formed at an inner end of the sliding seat 10, the inner end of the supporting plate 11 is fixedly connected with a non-measuring end of the corresponding second force sensor 6, the second force sensor 6 is detachably connected with the supporting plate 11, the sliding seat 10 is provided with a bar-shaped hole 12 penetrating through upper and lower ends of the sliding seat, the bar-shaped hole 12 extends in a front-rear direction, a limit rod 14 is movably penetrated in the bar-shaped hole 12, one end of the limit rod 14 extends into the test bench 1 from the bottom of the bar-shaped hole 12 and is in threaded fit with the bar-shaped hole, and a fixing sleeve 15 abutting against the upper surface of the sliding seat 10 is fixedly connected at the other end of the limit rod 14.
In the embodiment, an operator firstly horizontally places an endoscopic surgical instrument to be tested on the test bench 1, two jaws of the endoscopic surgical instrument extend into the accommodating space 7, the positioning protrusions 16 are clamped into finger rings on the fixed handles, the clamp rods are positioned in the avoidance grooves and the bearing grooves 22, the control pressure head 20 descends to press the endoscopic surgical instrument on the test bench 1, then the two jaws are symmetrically opened and respectively pass through inner holes of the pull ring 8, then the front and back positions and the angle positions of the two second force sensors 6 are respectively adjusted by unscrewing the fixed sleeves 15, the hole wall of the inner hole of the pull ring 8 is attached to the inner ends of the corresponding jaws, After adjustment, the fixing sleeve 15 is screwed tightly, then the first force sensor 5 is manually placed in the finger ring of the movable handle, the operator acts the hand on the first force sensor 5 and applies force to the movable handle through the detection end of the first force sensor 5 to enable the movable handle to have a counterclockwise rotation trend, so that two jaws have a closing trend, the first force sensor 5 transmits an input force value F i at the movable handle to the test host 2, the second force sensor 6 transmits two output force values F 01 and F 02 at the jaws to the test host 2, At this time, the output force value is a closing force value perpendicular to the direction of the bisector of the opening angle of the two jaws, the test host 2 analyzes F 01 and F 02 to determine whether the difference between the two is greater than 1N, when the difference is smaller than 1N, F 0 is obtained by averaging F 01 and F 02, And then F 0/Fi is obtained by least square fitting, namely the closing force transmission coefficient, when the difference is larger than 1N, the display screen of the test host 2 displays information to prompt an operator to adjust the position of the second force sensor 6 until the difference between F 01 and F 02 is smaller than 1N, Averaging to obtain F 0;
After the closing force transmission coefficient is measured, the pull ring 8 is detached, the front and back positions and the angle positions of the two second force sensors 6 are respectively adjusted, the detection ends of the second force sensors 6 are attached to the outer ends of the corresponding jaws, the steps are repeated, the movable handles are forced to rotate clockwise through the detection ends of the first force sensors 5, so that the two jaws have an opening trend, the first force sensors 5 transmit the input force value F i at the movable handles to the testing host machine 2, the second force sensors 6 transmit the two output force values F 01 and F 02 at the jaws to the testing host machine 2, at the moment, the output force values are opening force values perpendicular to the opening angle bisector direction of the two jaws, the testing host machine 2 analyzes the F 01 and the F 02, whether the difference between the two is larger than 1N or not is judged, when the difference is smaller than 1N, F 01 and F 0 are averaged to obtain an opening force transmission coefficient through the least square fitting, and when the difference is larger than 1N, F 02 is displayed by the testing host machine 2, and the difference value F 02 is displayed until the difference value F 02 is smaller than the average value 02.
The invention takes the average value of the two output force values generated by the clamp head as the output force value of the clamp head, can judge the measured error by analyzing the difference value between the two output force values, and can ensure that the measured error is in a reasonable range by adjusting the position of the second force sensor, thereby greatly improving the stability and accuracy of measurement, and can respectively measure the opening force transmission coefficient and the closing force transmission coefficient and better reflect the usability of the endoscopic surgical instrument.
Claims (8)
1. An endoscopic surgery instrument force transmission coefficient testing arrangement for measure endoscopic surgery instrument's force transmission coefficient, endoscopic surgery instrument includes movable handle, fixed handle, clamp lever and two clamp claws, its characterized in that: the testing device comprises a testing table (1) and a testing host machine (2) which extend left and right, an input module (3) and an output module (4) are respectively arranged on the left side and the right side of the testing table (1), the input module (3) comprises a first force sensor (5) movably arranged on the testing table (1), the output module (4) at least comprises two second force sensors (6) which are arranged at intervals front and back and symmetrically, the two second force sensors (6) can be used for adjusting front and back positions and angle positions, an accommodating space (7) for two clamp claws to extend in is formed between measuring ends of the two second force sensors (6), pull rings (8) are respectively detachably fixed at measuring ends of the two second force sensors (6), and the first force sensors (5) and the second force sensors (6) are respectively connected with the testing host machine (2); the output module (4) further comprises two groups of supporting pieces (9) which are respectively used for fixedly supporting the two second force sensors (6), the two groups of supporting pieces (9) are indirectly or directly supported on the test bench (1) in a sliding manner, and the two groups of supporting pieces (9) are respectively positioned at the outer ends of the two second force sensors (6) which are far away from each other; every group support piece (9) is including sliding locating slide (10) on testboard (1), slide (10) inner is formed with vertically upwards extension backup pad (11), backup pad (11) inner with the non-measurement end rigid coupling of corresponding second force sensor (6), slide (10) have bar hole (12) that run through its upper and lower both ends, bar hole (12) are along the fore-and-aft direction extension, bar hole (12) internal activity wears to be equipped with gag lever post (14), gag lever post (14) one end follow bar hole (12) bottom stretches into in testboard (1) and rather than screw-thread fit, gag lever post (14) other end follow bar hole (12) top stretch out and the rigid coupling have with fixed cover (15) of slide (10) upper surface butt.
2. An endoscopic surgical instrument force transfer coefficient testing device according to claim 1, wherein: the test bench (1) is fixedly provided with a positioning protrusion (16) for positioning the fixed handle, the positioning protrusion (16) vertically extends upwards, and the appearance of the positioning protrusion (16) is matched with the inner shape of the finger ring on the fixed handle.
3. An endoscopic surgical instrument force transfer coefficient testing device according to claim 2, wherein: the positioning protrusions (16) are arranged in an elliptical table shape, and the cross-sectional area of each positioning protrusion (16) is gradually increased from top to bottom.
4. An endoscopic surgical instrument force transfer coefficient testing device according to claim 1 or 2 or 3, wherein: two locating strips (17) which are arranged at intervals from front to back are fixedly arranged on the test bench (1), the tops of the inner ends of the two locating strips (17) which are close to each other are arranged to be curved surfaces, the two locating strips (17) extend in parallel along the left-right direction, and a locating groove (18) for a clamp rod to slide through is formed between the two locating strips (17).
5. An endoscopic surgical instrument force transfer coefficient testing device according to claim 1 or 2 or 3, wherein: the test bench (1) is fixedly provided with a pressing module (19) for limiting the endoscope surgical instrument in the vertical direction, and the pressing module (19) comprises a pressing head (20) capable of ascending and descending.
6. An endoscopic surgical instrument force transfer coefficient testing device according to claim 4, wherein: the test bench (1) is fixedly provided with a cushion block (21) positioned on the right side of the positioning strip (17), the top of the cushion block (21) is provided with a concave bearing groove (22), the bearing groove (22) penetrates through the left end and the right end of the cushion block (21), and the longitudinal section of the bearing groove (22) is U-shaped.
7. An endoscopic surgical instrument force transfer coefficient testing device according to claim 2 or 3, wherein: the test bench (1) is provided with an avoidance groove positioned at the rear side of the positioning bulge (16), and the avoidance groove penetrates through the upper end and the lower end of the test bench (1).
8. An endoscopic surgical instrument force transfer coefficient testing device according to claim 1, wherein: the second force sensor (6) is detachably connected with the supporting plate (11).
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| CN110146272A (en) * | 2019-06-03 | 2019-08-20 | 浙江省医疗器械检验研究院 | A kind of endoscopic surgery clamping force carry-over factor test device |
| CN216207466U (en) * | 2021-09-01 | 2022-04-05 | 浙江微度医疗器械有限公司 | Endoscope is with transmission coefficient stability testing arrangement hard |
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| CN113702020A (en) | 2021-11-26 |
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