CN113984383B - Reliability test platform and method for wire transmission structure with different degrees of freedom of movement of surgical instrument - Google Patents
Reliability test platform and method for wire transmission structure with different degrees of freedom of movement of surgical instrument Download PDFInfo
- Publication number
- CN113984383B CN113984383B CN202111245151.XA CN202111245151A CN113984383B CN 113984383 B CN113984383 B CN 113984383B CN 202111245151 A CN202111245151 A CN 202111245151A CN 113984383 B CN113984383 B CN 113984383B
- Authority
- CN
- China
- Prior art keywords
- steel wire
- wire rope
- driving
- wheel
- guide wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 37
- 230000033001 locomotion Effects 0.000 title claims abstract description 28
- 230000005540 biological transmission Effects 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title description 7
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 55
- 239000010959 steel Substances 0.000 claims abstract description 55
- 239000012636 effector Substances 0.000 claims abstract description 35
- 238000010998 test method Methods 0.000 claims abstract description 5
- 238000004804 winding Methods 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 125000004122 cyclic group Chemical group 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000009864 tensile test Methods 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
Classifications
-
- 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
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/027—Test-benches with force-applying means, e.g. loading of drive shafts along several directions
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/20—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by using diffraction of the radiation by the materials, e.g. for investigating crystal structure; by using scattering of the radiation by the materials, e.g. for investigating non-crystalline materials; by using reflection of the radiation by the materials
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/32—Investigating strength properties of solid materials by application of mechanical stress by applying repeated or pulsating forces
- G01N3/34—Investigating strength properties of solid materials by application of mechanical stress by applying repeated or pulsating forces generated by mechanical means, e.g. hammer blows
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/02—Details not specific for a particular testing method
- G01N2203/06—Indicating or recording means; Sensing means
- G01N2203/0641—Indicating or recording means; Sensing means using optical, X-ray, ultraviolet, infrared or similar detectors
- G01N2203/0647—Image analysis
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/02—Details not specific for a particular testing method
- G01N2203/06—Indicating or recording means; Sensing means
- G01N2203/067—Parameter measured for estimating the property
- G01N2203/0676—Force, weight, load, energy, speed or acceleration
Landscapes
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Crystallography & Structural Chemistry (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a reliability test platform and a reliability test method for a wire transmission structure with different degrees of freedom of movement of a surgical instrument, wherein the test platform comprises a driving wheel, a guide wheel set, a direct current servo motor, a three-pulley tension sensor, an end effector and a linear sliding table, wherein the end effector is used for realizing the different degrees of freedom of movement of a steel wire rope; the driving wheel, the guide wheel set and the direct current servo motor are arranged on the driving end bracket, the direct current servo motor is connected with the driving wheel through a coupler, the driving end bracket is fixed with the driving end bracket table, and the driving end bracket table is fixed on the supporting base and is close to the left end; the three-pulley tension sensor is fixed on the support base close to the middle through the sensor bracket; the end effector is installed on the end effector support, and the end effector support links to each other with the slider of sharp slip table, and the slide of sharp slip table is fixed and is close to the right-hand member on supporting the base. The invention can test the reliability of the wire transmission structure with different degrees of freedom of movement of the surgical instrument under different working conditions.
Description
Technical Field
The invention relates to the field of reliability test of medical instruments, in particular to a reliability test platform and method for a wire transmission structure with different degrees of freedom of movement of a surgical instrument.
Background
In robot assisted minimally invasive surgery, surgical instruments are inserted into a human body and are in direct contact with internal organ tissues to perform surgical operation, and the operation environment is limited, so that wire transmission is selected as a transmission mode. The steel wire rope is a core transmission component in the surgical instrument, plays an important role in transmitting the surgical actions of doctors, and plays an important role in one surgical operation. The operation is a very complex and time-consuming process, during which, due to the internal environment and the structural characteristics of the surgical instruments, the steel wire rope inevitably undergoes different forms of damage such as fatigue, abrasion, stretching, corrosion, etc., as a key component in the surgical instruments, which greatly affects the operation of the surgery and the success or failure of the surgery, and once the operation fails, medical accidents may possibly be caused to cause the surgery to be performed smoothly. Therefore, the reliability and failure analysis of the steel wire rope are carried out, and the knowledge of various performance indexes and failure mechanisms of the steel wire rope is necessary, so that guidance is provided for the use and maintenance of surgical instruments, and the safe and smooth operation is ensured.
Because of the narrow operation space limitation of the minimally invasive surgery, each motion degree of freedom of the surgical instrument has a special wire transmission structure and a special structure size, and the existing testing device related to the steel wire rope is not suitable for relevant reliability tests, so that a test platform for the reliability of the wire transmission structure of the surgical instrument with different motion degrees of freedom is necessary to be developed to test the wire transmission structure of each motion degree of freedom, and the reliability of the surgical instrument is ensured.
Disclosure of Invention
The invention provides a test platform and a test method for the reliability of the wire transmission structure with different degrees of freedom of movement of the surgical instrument, which can test the reliability of the wire transmission structure with different degrees of freedom of movement of the surgical instrument under different working conditions, for analyzing and researching the reliability and failure mechanism of the wire transmission structure and ensuring the safety and reliability of the surgical instrument.
The technical scheme adopted by the invention is as follows:
The utility model provides a surgical instrument different degrees of freedom of movement silk transmission structure reliability test platform which characterized in that: the device comprises a driving wheel for driving the steel wire rope, a guide wheel group for guiding the steel wire rope, a direct current servo motor for driving the driving wheel to rotate, a three-pulley tension sensor for detecting the tension of the steel wire rope, an end effector with a plurality of motion degrees and a linear sliding table;
The driving wheel, the guide wheel set and the direct current servo motor are arranged on the driving end bracket, the direct current servo motor is connected with the driving wheel through a coupler, the driving end bracket is fixed with the driving end bracket table, and the driving end bracket table is fixed at a position, close to the left end, on the supporting base through a bolt;
the three-pulley tension sensor is fixed on the sensor bracket, and the sensor bracket is fixed at a position, close to the middle part, on the support base through a bolt;
The end effector is arranged on an end effector support, the end effector support is connected with a sliding block of a linear sliding table, and a sliding seat of the linear sliding table is fixed at a position, close to the right end, on a supporting base through a bolt.
Further: the driving wheel is provided with rope holes for respectively winding left and right spiral grooves at two ends of the steel wire rope and respectively fixing the two ends of the steel wire rope.
Further: the end effector comprises a fixed joint and a swinging joint rotatably connected with the right end of the fixed joint through a pin shaft, and the fixed joint is fixedly connected with the end effector bracket; at least one deflection degree of freedom control wheel is arranged in the swing joint, the deflection degree of freedom control wheel is fixedly connected with the swing joint, and the center line of the deflection degree of freedom control wheel coincides with the center line of the connecting pin shaft between the fixed joint and the swing joint.
Further: the guide wheel group consists of a wheel group support, a front lower guide wheel and a rear lower guide wheel which are arranged on the wheel group support, and a front upper guide wheel and a rear upper guide wheel which are arranged on the wheel group support, wherein the axial directions of the front lower guide wheel and the rear lower guide wheel are parallel to the axial directions of the driving wheels, and the axial directions of the front upper guide wheel and the rear upper guide wheel are perpendicular to the axial directions of the driving wheels.
The reliability test method for the wire transmission structure with different degrees of freedom of movement of the surgical instrument adopts the reliability test platform, and the test steps for the degree of freedom of deflection movement are as follows:
Step 1, installing a steel wire rope on a test platform: one end of the steel wire rope is wound in a section of spiral groove on the driving wheel, a rope hole penetrating through the end is fixed through a wire knot, the other end of the steel wire rope sequentially bypasses the guide wheel, the three-pulley tension sensor and the deflection degree of freedom control wheel, then the steel wire rope passes through the guide wheel and winds back to another section of spiral groove on the driving wheel, and finally the steel wire rope is fixed through the wire knot through the rope hole penetrating through the other end;
Step2, connecting the three-pulley tension sensor to a computer, resetting an initial value, and monitoring and recording the tension data of the subsequent steel wire rope;
Step 3, adjusting the displacement of the sliding block of the linear sliding table, and applying different initial tensioning forces to the steel wire rope;
And 4, starting a direct current servo motor to drive a driving wheel to perform forward and reverse rotation, realizing the cyclic reciprocating motion of the steel wire rope, recording the initial deflection angle of the end effector, intermittently recording the change condition of the deflection angle, performing the test until the steel wire rope is broken, and recording relevant life data.
The invention has the advantages and positive effects that:
1. According to the invention, the reliability test of the wire transmission structure with different degrees of freedom of movement of the surgical instrument can be performed by changing different driving wheels and changing the winding modes of the wire rope on the driving wheels and the end effector.
2. According to the invention, different tensioning forces are applied to the steel wire rope by adjusting the rotating speed of the direct current servo motor and the displacement of the sliding block of the linear sliding table, so that different use conditions of the surgical instrument can be simulated.
3. The three-pulley tension sensor can monitor the tension change condition of the steel wire rope in real time.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic illustration of the winding of the wire rope of FIG. 1 between the drive wheel and the guide wheel (wire drive test for surgical instrument deflection degrees of freedom);
FIG. 3 is a schematic view of the wrapping of the wire rope of FIG. 1 around an end effector (wire drive test for surgical instrument deflection degrees of freedom)
FIG. 4 is a schematic diagram of a drive wheel configuration (wire drive test for surgical instrument deflection degrees of freedom);
In the figure: 1. a support base; 2. a driving end support table; 3. a drive end bracket; 4. a driving wheel; 4.1 left-section helical groove; 4.2 right spiral groove; 5. a guide wheel set; 5.1, a wheel group bracket; 5.2, lower guide wheels; 5.3, upper guide wheels; 5.3; 6. a coupling; 7. a direct current servo motor; 8. a sensor holder; 9. a three pulley tension sensor; 10. an end effector support; 11. an end effector; 11.1, fixed joints; 11.2, a pin shaft; 11.3, a deflection degree of freedom control wheel; 11.4, swinging joint; 12. a linear sliding table; 100. a wire rope.
Detailed Description
For further understanding of the present invention, its technical aspects, features and functions, the present invention will be further described with reference to the following detailed description, taken in conjunction with the accompanying drawings:
As shown in fig. 1, the reliability test platform for the wire transmission structure with different degrees of freedom of movement of the surgical instrument mainly comprises a driving wheel 4, a guide wheel 5, a direct current servo motor 7, a three-pulley tension sensor 9, an end effector 11 and a linear sliding table 12. For the test of different degrees of freedom wire transmission structures, the driving wheel can adopt different structures, and the function is as follows: winding one end or two ends of the steel wire rope and fixing the end heads. The guide wheel is used for guiding the steel wire rope. The DC servo motor is used for providing driving force for the driving wheel, and the end effector has a plurality of motion degrees of freedom.
The driving wheel, the guide wheel set and the direct current servo motor are arranged on the driving end bracket 3; the direct current servo motor is connected with the driving wheel through a coupler 6, the driving end bracket is fixed with the driving end bracket table 2, and the driving end bracket table is fixed at a position, close to the left end, on the supporting base 1 through bolts;
The three-pulley tension sensor is fixed on a sensor bracket 8, and the sensor bracket is fixed at a position close to the middle part on the support base through a bolt. Wherein, three pulley tension sensor can directly purchase from market.
The end effector is arranged on an end effector bracket 10, the end effector bracket is connected with a sliding block of a linear sliding table, and a sliding seat of the linear sliding table is fixed at a position close to the right end on a supporting base through a bolt. The linear sliding table can adopt a manual driving type linear sliding table, the screw is driven to rotate by rotating a hand wheel arranged at the outer end of the screw, and a sliding block matched with the screw moves along the screw, so that the left and right positions of the end effector are changed, and the tensioning force adjustment of the steel wire rope is realized.
Taking the deflection freedom degree of the surgical instrument as an example, the driving wheel, the end effector and the guiding wheel set can be preferably structured as follows:
The driving wheel is shown in fig. 4, and can be formed by fastening two half wheels through screws, so that the driving wheel is conveniently and fixedly arranged on a driving wheel shaft. And rope holes for respectively winding left-section spiral grooves 4.1 and right-section spiral grooves 4.2 at two ends of the steel wire rope and respectively fixing two ends of the steel wire rope are formed between flanges at two sides of the driving wheel.
The end effector comprises a fixed joint 11.1 and a swinging joint 11.4 rotatably connected with the right end of the fixed joint through a pin shaft 11.2, and the fixed joint is fixedly connected with an end effector bracket; at least one deflection degree of freedom control wheel 11.3 is arranged in the swinging joint, the deflection degree of freedom control wheel is fixedly connected with the swinging joint, and the center line of the deflection degree of freedom control wheel coincides with the center line of the connecting pin shaft between the fixed joint and the swinging joint.
The guide wheel group consists of a wheel group support 5.1, a front lower guide wheel 5.2, a rear lower guide wheel 5.2 and a front upper guide wheel 5.3, wherein the front lower guide wheel and the rear lower guide wheel are arranged on the wheel group support, the axial directions of the front lower guide wheel and the rear lower guide wheel are parallel to the axial direction of the driving wheel, and the axial directions of the front upper guide wheel and the rear upper guide wheel are perpendicular to the axial direction of the driving wheel.
The invention relates to a reliability test of a wire transmission structure, taking deflection freedom degree as an example, comprising the following steps:
(1) The wire rope 100 is mounted on a test platform: one end of the steel wire rope is wound in a section of spiral groove on the driving wheel, a rope hole penetrating through the end is fixed through a wire knot, the other end sequentially bypasses the guide wheels (specifically, bypasses one lower guide wheel, penetrates through a space between one group of upper guide wheels to enable the steel wire rope to realize 90 DEG steering), a three-pulley tension sensor (the steel wire rope is wound on three pulleys and is detected through a detection element at the rear end of the middle pulley to realize tension), a deflection freedom degree control wheel, and then passes through the guide wheel group (specifically, penetrates through a space between the other group of upper guide wheels to enable the steel wire rope to realize 90 DEG steering, then bypasses the other lower guide wheel) and winds back to the other section of spiral groove on the driving wheel, and finally, is fixed through the wire knot through the rope hole penetrating through the other end.
(2) Connecting the three-pulley tension sensor to a computer, resetting an initial numerical value, and monitoring and recording the tension data of a subsequent steel wire rope;
(3) The sliding block displacement of the linear sliding table is regulated by rotating the lead screw of the linear sliding table, and different initial tensioning forces are applied to the steel wire rope;
(4) And starting a direct current servo motor to drive a driving wheel to perform forward and reverse rotation, realizing the cyclic reciprocating motion of the steel wire rope, recording the initial deflection angle of the end effector, intermittently recording the change condition of the deflection angle (the deflection angle refers to the included angle between the fixed joint and the swinging joint), and performing the test until the steel wire rope is broken and stopped, and recording relevant life data.
And repeatedly carrying out multiple groups of tests on multiple steel wire rope samples, researching the influence of different initial tensioning forces on the service life of the steel wire rope and the service life distribution condition, and researching the tensioning force of the steel wire rope and the motion precision change condition of the end effector in the operation process.
The method can be further matched with the tensile test and the scanning electron microscope detection of the steel wire rope to study the mechanical property change and the surface damage evolution condition of the steel wire rope in the operation process.
The reliability test platform and the test method are suitable for testing the deflection degree-of-freedom wire transmission structure of the surgical instrument and are also suitable for testing other degree-of-freedom wire transmission structures, and can be realized only by replacing different driving wheels and changing the winding mode of the steel wire rope on the driving wheels and the end effector.
Although the embodiments of the present invention and the accompanying drawings have been disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit of the invention and the appended claims, and therefore the scope of the invention is not limited to the embodiments and the disclosure of the drawings.
Claims (3)
1. The utility model provides a surgical instrument different degrees of freedom of movement silk transmission structure reliability test platform which characterized in that: the device comprises a driving wheel for driving the steel wire rope, a guide wheel group for guiding the steel wire rope, a direct current servo motor for driving the driving wheel to rotate, a three-pulley tension sensor for detecting the tension of the steel wire rope, an end effector with a plurality of motion degrees and a linear sliding table;
The driving wheel, the guide wheel set and the direct current servo motor are arranged on the driving end bracket, the direct current servo motor is connected with the driving wheel through a coupler, the driving end bracket is fixed with the driving end bracket table, and the driving end bracket table is fixed at a position, close to the left end, on the supporting base through a bolt; the driving wheel is provided with a rope hole for respectively winding left and right spiral grooves at two ends of the steel wire rope and respectively fixing the two ends of the steel wire rope;
the three-pulley tension sensor is fixed on the sensor bracket, and the sensor bracket is fixed at a position, close to the middle part, on the support base through a bolt;
the end effector is arranged on an end effector bracket, the end effector bracket is connected with a sliding block of a linear sliding table, and a sliding seat of the linear sliding table is fixed at a position, close to the right end, on a supporting base through a bolt;
The end effector comprises a fixed joint and a swinging joint rotatably connected with the right end of the fixed joint through a pin shaft, and the fixed joint is fixedly connected with the end effector bracket; at least one deflection degree of freedom control wheel is arranged in the swing joint, the deflection degree of freedom control wheel is fixedly connected with the swing joint, and the center line of the deflection degree of freedom control wheel coincides with the center line of the connecting pin shaft between the fixed joint and the swing joint.
2. The surgical instrument different freedom of movement wire drive structure reliability test platform of claim 1, wherein: the guide wheel group consists of a wheel group support, a front lower guide wheel and a rear lower guide wheel which are arranged on the wheel group support, and a front upper guide wheel and a rear upper guide wheel which are arranged on the wheel group support, wherein the axial directions of the front lower guide wheel and the rear lower guide wheel are parallel to the axial directions of the driving wheels, and the axial directions of the front upper guide wheel and the rear upper guide wheel are perpendicular to the axial directions of the driving wheels.
3. The test method for the reliability of the wire transmission structure with different degrees of freedom of movement of the surgical instrument is based on the test platform for the reliability of the wire transmission structure with different degrees of freedom of movement of the surgical instrument according to claim 2, and the test steps for the free end of deflection movement are as follows:
Step 1, installing a steel wire rope on a test platform: one end of the steel wire rope is wound in a section of spiral groove on the driving wheel, a rope hole penetrating through the end is fixed through a wire knot, the other end of the steel wire rope sequentially bypasses the guide wheel, the three-pulley tension sensor and the deflection degree of freedom control wheel, then the steel wire rope passes through the guide wheel and winds back to another section of spiral groove on the driving wheel, and finally the steel wire rope is fixed through the wire knot through the rope hole penetrating through the other end;
Step2, connecting the three-pulley tension sensor to a computer, resetting an initial value, and monitoring and recording the tension data of the subsequent steel wire rope;
Step 3, adjusting the displacement of the sliding block of the linear sliding table, and applying different initial tensioning forces to the steel wire rope;
And 4, starting a direct current servo motor to drive a driving wheel to perform forward and reverse rotation, realizing the cyclic reciprocating motion of the steel wire rope, recording the initial deflection angle of the end effector, intermittently recording the change condition of the deflection angle, performing the test until the steel wire rope is broken, and recording relevant life data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111245151.XA CN113984383B (en) | 2021-10-26 | 2021-10-26 | Reliability test platform and method for wire transmission structure with different degrees of freedom of movement of surgical instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111245151.XA CN113984383B (en) | 2021-10-26 | 2021-10-26 | Reliability test platform and method for wire transmission structure with different degrees of freedom of movement of surgical instrument |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113984383A CN113984383A (en) | 2022-01-28 |
| CN113984383B true CN113984383B (en) | 2024-08-09 |
Family
ID=79741336
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111245151.XA Active CN113984383B (en) | 2021-10-26 | 2021-10-26 | Reliability test platform and method for wire transmission structure with different degrees of freedom of movement of surgical instrument |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113984383B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114176786B (en) * | 2022-02-14 | 2022-04-29 | 极限人工智能有限公司 | Instrument driving module, operation power device and split type operation device |
| CN118171497B (en) * | 2024-05-14 | 2024-08-16 | 吉林大学 | Construction method of force and position transmission model of wire-driven surgical instruments and error compensation method |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110186790A (en) * | 2019-05-23 | 2019-08-30 | 天津大学 | A kind of surgical instrument wirerope performance testing device and method |
| CN112959353A (en) * | 2021-04-08 | 2021-06-15 | 浙江水晶光电科技股份有限公司 | Transmission assembly and end effector |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101216397B (en) * | 2008-01-10 | 2010-11-17 | 上海交通大学 | Elevator steel wire rope bending fatigue state test bench |
| CN101637402B (en) * | 2009-10-23 | 2011-05-18 | 天津大学 | Minimally invasive surgical wire driving and four-freedom surgical tool |
| CN102141133B (en) * | 2011-01-10 | 2013-03-20 | 天津大学 | Wire fixing mechanism for wire transmission system |
| CN103251458A (en) * | 2013-05-09 | 2013-08-21 | 天津工业大学 | Wire transmission four-freedom-degree surgical instrument for minimally invasive surgery robot |
| CN104224325B (en) * | 2014-10-11 | 2016-08-24 | 天津工业大学 | A kind of wire rope gearing linear telescopic mechanism for micro-wound operation robot |
| CN105286999B (en) * | 2015-10-15 | 2017-09-29 | 天津大学 | Minimally Invasive Surgery apparatus with end rotation function |
| CN105534598B (en) * | 2015-12-17 | 2017-11-17 | 天津工业大学 | The operating theater instruments wire cable transmission mechanism that a kind of three axis congruence is handed over |
| CN105943095B (en) * | 2016-05-11 | 2018-04-10 | 天津大学 | A kind of Minimally Invasive Surgery apparatus with flexible wrist |
| CN106175850B (en) * | 2016-08-31 | 2019-03-19 | 北京术锐技术有限公司 | A kind of flexible operation tool system of straight line driving mechanism driving |
| JP2020065691A (en) * | 2018-10-24 | 2020-04-30 | リバーフィールド株式会社 | Surgery support robot instrument |
| CN114848156B (en) * | 2020-11-30 | 2025-03-14 | 天津大学医疗机器人与智能系统研究院 | Front end actuator and method thereof, manipulator device and surgical instrument |
| CN112894771A (en) * | 2021-01-26 | 2021-06-04 | 上海交通大学 | Frame-type multi-degree-of-freedom operating robot |
-
2021
- 2021-10-26 CN CN202111245151.XA patent/CN113984383B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110186790A (en) * | 2019-05-23 | 2019-08-30 | 天津大学 | A kind of surgical instrument wirerope performance testing device and method |
| CN112959353A (en) * | 2021-04-08 | 2021-06-15 | 浙江水晶光电科技股份有限公司 | Transmission assembly and end effector |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113984383A (en) | 2022-01-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113984383B (en) | Reliability test platform and method for wire transmission structure with different degrees of freedom of movement of surgical instrument | |
| US11547503B2 (en) | Passive preload and capstan drive for surgical instruments | |
| US11213363B2 (en) | Catheter tension sensing | |
| KR100778387B1 (en) | Laparoscopic Surgery Robot with Multiple Degrees of Freedom and Its Force Measuring Method | |
| US9775677B2 (en) | Medical treatment tool and manipulator including the same | |
| CN101702277B (en) | Virtual and artificial force feedback surgical instrument | |
| CN112268798B (en) | Steel wire rope performance testing device for flexible cable driven rehabilitation robot and testing method thereof | |
| JP2020039922A (en) | Tension control in actuation of multi-joint medical instruments | |
| CN112262022A (en) | Mobile robot for inspecting a turbine | |
| JP2007510151A (en) | Multi-axis universal testing machine | |
| US20140276594A1 (en) | Catheter tension sensing | |
| JP2007510151A6 (en) | Multi-axis universal testing machine | |
| CN110900656B (en) | Experimental device for be used for rope to drive snake-shaped robot | |
| CN113598955B (en) | A minimally invasive surgical robot power transmission mechanism | |
| CN110186790A (en) | A kind of surgical instrument wirerope performance testing device and method | |
| CN109171974A (en) | The driving mechanism of surgical instrument linear movement | |
| CN105890667B (en) | Automobile cable detection machine | |
| CN116990017A (en) | Surgical instrument wire transmission bionic tendon drive structure testing device and testing method | |
| CN118986478A (en) | Multi-degree-of-freedom minimally invasive surgical instrument | |
| CN220040090U (en) | Detection device for wire rod mechanical test | |
| CN222748272U (en) | Transmission belt testing tool | |
| CN105954129A (en) | Fatigue performance testing device for laparoscopic surgical forceps | |
| CN114577633B (en) | A rotor torsion bar torsional stiffness test device and test method thereof | |
| CN118896793B (en) | Steering shaft sliding force testing method and testing equipment | |
| CN114705562A (en) | Cable bending fatigue testing system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |