CN113984383A - Platform and method for testing reliability of wire transmission structure of surgical instrument with different degrees of freedom of motion - Google Patents
Platform and method for testing reliability of wire transmission structure of surgical instrument with different degrees of freedom of motion Download PDFInfo
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- CN113984383A CN113984383A CN202111245151.XA CN202111245151A CN113984383A CN 113984383 A CN113984383 A CN 113984383A CN 202111245151 A CN202111245151 A CN 202111245151A CN 113984383 A CN113984383 A CN 113984383A
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- 238000012360 testing method Methods 0.000 title claims abstract description 40
- 230000033001 locomotion Effects 0.000 title claims abstract description 30
- 230000005540 biological transmission Effects 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 10
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 60
- 239000010959 steel Substances 0.000 claims abstract description 60
- 239000012636 effector Substances 0.000 claims abstract description 34
- 238000004804 winding Methods 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010998 test method Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 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
- 125000004122 cyclic group Chemical group 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
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 238000009864 tensile test Methods 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
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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
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/027—Test-benches with force-applying means, e.g. loading of drive shafts along several directions
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- 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
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- 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
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- 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
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- 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
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- 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
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Abstract
The invention discloses a test platform and a method for reliability of a wire transmission structure of 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 for realizing different degrees of freedom of movement of a steel wire rope and a linear sliding table; the driving wheel, the guide wheel set and the direct current servo motor are arranged on the driving end support, the direct current servo motor is connected with the driving wheel through a coupler, the driving end support is fixed with the driving end support table, and the driving end support 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 through a sensor bracket and is close to the middle part; 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 of the surgical instrument with different degrees of freedom of movement under different working conditions.
Description
Technical Field
The invention relates to the field of reliability testing of medical instruments, in particular to a platform and a method for testing reliability of a wire transmission structure of different degrees of freedom of motion of a surgical instrument.
Background
In the robot-assisted minimally invasive surgery, the surgical instrument is inserted into a human body and is in direct contact with internal organs and tissues in the human body to perform the surgical operation, and the operation environment is limited, so that the wire transmission mode is selected. The steel wire rope is a core transmission part in a surgical instrument, plays an important role in transmitting the surgical action of a doctor and plays an important role in one surgical operation. The operation is a very complicated and time-consuming process, and during the operation, the steel wire rope inevitably experiences different forms of damages such as fatigue, abrasion, stretching, corrosion and the like due to the internal environment and the structural characteristics of the surgical instrument, and as a key part in the surgical instrument, the steel wire rope greatly influences the operation and success or failure of the operation, and once the steel wire rope fails, medical accidents can be possibly caused to cause the operation to be not smoothly carried out. Therefore, the reliability and failure analysis of the steel wire rope is necessary to know various performance indexes and failure mechanisms of the steel wire rope, so that guidance is provided for the use and maintenance of surgical instruments, and the safe and smooth operation of the surgery is ensured.
Because of the narrow and small operating space limitation of the minimally invasive surgery, each degree of freedom of motion of the surgical instrument has a unique wire transmission structure and a structure size, and the existing testing device related to the steel wire rope is not suitable for the related reliability test, therefore, it is necessary to develop a reliability testing platform for the wire transmission structures of different degrees of freedom of motion of the surgical instrument to test the wire transmission structures of each degree of freedom of motion, so as to ensure the reliability of the surgical instrument.
Disclosure of Invention
The invention provides a test platform and a test method for the reliability of a wire transmission structure with different degrees of freedom of motion of a surgical instrument, which are used for analyzing and researching the reliability and failure mechanism of the wire transmission structure and ensuring the safety and reliability of the surgical instrument, and can test the reliability of the wire transmission structure with different degrees of freedom of motion of the surgical instrument under different working conditions.
The technical scheme adopted by the invention is as follows:
the utility model provides a different degrees of freedom of motion silk transmission structure reliability test platform of surgical instruments which characterized in that: the device comprises a driving wheel for driving a steel wire rope, a guide wheel set 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 freedom degrees of motion and a linear sliding table;
the driving wheel, the guide wheel set and the direct current servo motor are arranged on the driving end support, the direct current servo motor is connected with the driving wheel through a coupler, the driving end support is fixed with the driving end support platform, and the driving end support platform is fixed on the supporting base through a bolt and is close to the left end;
the three-pulley tension sensor is fixed on the sensor bracket, and the sensor bracket is fixed on the support base through a bolt at a position close to the middle part;
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 passes through the bolt fastening and is close to the position of right-hand member on supporting the base.
Further: the driving wheel is provided with a left spiral groove and a right spiral groove which are used for respectively winding two end parts of the steel wire rope and rope holes which are used for respectively fixing two end heads of the steel wire rope.
Further, the method comprises the following steps: the end effector comprises a fixed joint and a swinging joint which is 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 support; at least one deflection freedom degree control wheel is arranged in the swing joint, the deflection freedom degree control wheel is fixedly connected with the swing joint, and the central line of the deflection freedom degree control wheel is superposed with the central line of a connecting pin shaft between the fixed joint and the swing joint.
Further, the method comprises the following steps: the guide wheel set comprises a wheel set support, a front lower guide wheel, a rear lower guide wheel and a front upper guide wheel and a rear upper guide wheel, wherein the front lower guide wheel and the rear lower guide wheel are arranged on the wheel set support, the axial direction of the front lower guide wheel and the axial direction of the rear lower guide wheel are parallel to the axial direction of the driving wheel, and the axial direction of the front upper guide wheel and the axial direction of the rear upper guide wheel are perpendicular to the axial direction of the driving wheel.
A reliability test method for a wire transmission structure of different degrees of freedom of movement of a surgical instrument adopts the reliability test platform to test the degree of freedom of deflection movement, and comprises the following steps:
and 4, starting the direct current servo motor to drive the driving wheel to rotate forward and backward, realizing the circular 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, stopping the test until the steel wire rope is broken, and recording related service life data.
The invention has the advantages and positive effects that:
1. the invention can test the reliability of the wire transmission structure of the surgical instrument with different degrees of freedom of motion by replacing different driving wheels and changing the winding mode of the steel wire rope on the driving wheels and the end effector.
2. The invention can simulate different use conditions of surgical instruments by adjusting the rotating speed of the direct current servo motor and adjusting the displacement of the slide block of the linear sliding table to apply different tensile forces to the steel wire rope.
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 structural view of the present invention;
FIG. 2 is a schematic representation of the winding of the wire rope of FIG. 1 between the drive wheel and the guide wheel (for the surgical instrument yaw freedom wire drive test);
FIG. 3 is a schematic view of the wire rope winding of FIG. 1 on the end effector (for the test of the wire drive for the deflective degree of freedom of the surgical instrument)
FIG. 4 is a schematic view of a drive wheel configuration (for a surgical instrument yaw degree of freedom wire drive test);
in the figure: 1. a support base; 2. a drive end support stand; 3. a drive end support; 4. a drive wheel; 4.1 left section spiral groove; 4.2, a right end spiral groove; 5. a guide wheel set; 5.1, a wheel set bracket; 5.2, a lower guide wheel; 5.3, an upper guide wheel; 5.3; 6. a coupling; 7. a DC servo motor; 8. a sensor holder; 9. a three-pulley tension sensor; 10. an end effector support; 11. an end effector; 11.1, a fixed joint; 11.2, a pin shaft; 11.3, a deflection freedom control wheel; 11.4, a swing joint; 12. a linear sliding table; 100. a steel cord.
Detailed Description
In order to further understand the contents, features and functions of the present invention, the technical solutions of the present invention are further described by the following embodiments with reference to the accompanying drawings:
as shown in fig. 1, a platform for testing reliability of a wire transmission structure of different degrees of freedom of movement of a 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. Aiming at the test of different degrees of freedom wire transmission structures, the driving wheel can adopt different structures and has the functions of: and winding one end or two ends of the steel wire rope and fixing the end head. The guide wheel is used for guiding the steel wire rope. The direct current servo motor is used for providing driving force for the driving wheel, and the end effector has multiple freedom of movement.
The driving wheel, the guide wheel set and the direct current servo motor are arranged on the driving end support 3; the direct current servo motor is connected with the driving wheel through a coupler 6, the driving end support is fixed with the driving end support platform 2, and the driving end support platform is fixed on the supporting base 1 through a bolt and is close to the left end;
the three-pulley tension sensor is fixed on the sensor support 8, and the sensor support is fixed on the supporting base through bolts at a position close to the middle part. Among them, the three-pulley tension sensor is directly available on the market.
The end effector is installed on end effector support 10, and the end effector support links to each other with the slider of sharp slip table, and the slide of sharp slip table passes through the bolt fastening and is close to the position of right-hand member on supporting the base. The linear sliding table can adopt a manual driving type linear sliding table, a hand wheel installed at the outer end of the lead screw is rotated to drive the lead screw to rotate, and the sliding block matched with the lead screw moves along the lead screw, so that the left and right positions of the end effector are changed, and the tension of the steel wire rope is adjusted.
The winding mode of the steel wire rope takes the deflection freedom degree of the surgical instrument as an example, and the driving wheel, the end effector and the guide wheel set can be preferably in the following structures:
the driving wheel is shown in fig. 4, and can be formed by buckling two half wheels and connecting the two half wheels through screws, so that the driving wheel is conveniently and fixedly installed on a driving wheel shaft. A left section spiral groove 4.1 and a right section spiral groove 4.2 which are used for respectively winding two end parts of the steel wire rope and rope holes which are used for respectively fixing two end heads of the steel wire rope are arranged between the flanges at the two sides of the driving wheel.
The end effector comprises a fixed joint 11.1 and a swing joint 11.4 which is rotatably connected with the right end of the fixed joint through a pin shaft 11.2, and the fixed joint is fixedly connected with the end effector support; at least one deflection freedom degree control wheel 11.3 is arranged in the swing joint, the deflection freedom degree control wheel is fixedly connected with the swing joint, and the central line of the deflection freedom degree control wheel is superposed with the central line of a connecting pin shaft between the fixed joint and the swing joint.
The guide wheel set is composed of a wheel set 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, the front lower guide wheel and the rear lower guide wheel are arranged on the wheel set support, the axial direction of the front lower guide wheel and the axial direction of the driving wheel are parallel, and the axial direction of the front upper guide wheel and the axial direction of the rear upper guide wheel are perpendicular to the axial direction of the driving wheel.
The reliability test of the wire transmission structure takes the deflection freedom degree as an example, and comprises the following steps:
(1) installing the wire rope 100 on a test platform: one end of a steel wire rope is wound in a section of spiral groove on the driving wheel and penetrates through a rope hole at the end to be fixed through a knot, the other end of the steel wire rope sequentially bypasses guide wheels (specifically, firstly bypasses one lower guide wheel and then penetrates through a space between one group of upper guide wheels to enable the steel wire rope to realize 90-degree steering), a three-pulley tension sensor (the steel wire rope is wound on three pulleys and realizes tension detection through a detection element at the rear end of an intermediate pulley) and a deflection freedom degree control wheel, and then the steel wire rope is wound back to the other section of spiral groove on the driving wheel through a guide wheel group (specifically, firstly penetrates through a space between the other group of upper guide wheels to enable the steel wire rope to realize 90-degree steering and then bypasses the other lower guide wheel) and finally is fixed through the knot through a rope hole at the other end.
(2) Connecting the three-pulley tension sensor to a computer, resetting an initial value, and monitoring and recording subsequent tension data of the steel wire rope;
(3) the displacement of a sliding block of the linear sliding table is adjusted by rotating a lead screw of the linear sliding table, and different initial tension forces are applied to the steel wire rope;
(4) starting a direct current servo motor to drive a driving wheel to rotate forward and backward, realizing the cyclic reciprocating motion of the steel wire rope, recording the initial deflection angle of an end effector, intermittently recording the change condition of the deflection angle (the deflection angle refers to the included angle between a fixed joint and a swinging joint), stopping the test until the steel wire rope is broken, and recording relevant service life data.
And repeatedly carrying out a plurality of groups of tests on a plurality of steel wire rope samples, researching the influence of different initial tension forces on the service life of the steel wire rope and the service life distribution condition, and researching the tension force of the steel wire rope and the motion precision change condition of the end effector in the operation process.
Furthermore, the steel wire rope tensile test and the scanning electron microscope detection are carried out in a matched mode, and the mechanical property change and the surface damage evolution condition of the steel wire rope in the operation process are researched.
The reliability test platform and the test method are suitable for testing the deflection freedom degree wire transmission structure of the surgical instrument and also suitable for testing other freedom degree wire transmission structures, and can be realized only by replacing different driving wheels and changing the winding modes of the steel wire rope on the driving wheels and the end effector.
Although the embodiments of the present invention and the accompanying drawings are 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 scope of the appended claims, and therefore the scope of the invention is not limited to the disclosure of the embodiments and the accompanying drawings.
Claims (5)
1. The utility model provides a different degrees of freedom of motion silk transmission structure reliability test platform of surgical instruments which characterized in that: the device comprises a driving wheel for driving a steel wire rope, a guide wheel set 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 freedom degrees of motion and a linear sliding table;
the driving wheel, the guide wheel set and the direct current servo motor are arranged on the driving end support, the direct current servo motor is connected with the driving wheel through a coupler, the driving end support is fixed with the driving end support platform, and the driving end support platform is fixed on the supporting base through a bolt and is close to the left end;
the three-pulley tension sensor is fixed on the sensor bracket, and the sensor bracket is fixed on the support base through a bolt at a position close to the middle part;
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 passes through the bolt fastening and is close to the position of right-hand member on supporting the base.
2. The platform for testing the reliability of the wire transmission structure of the surgical instrument in different degrees of freedom of motion according to claim 1, wherein: the driving wheel is provided with a left spiral groove and a right spiral groove which are used for respectively winding two end parts of the steel wire rope and rope holes which are used for respectively fixing two end heads of the steel wire rope.
3. The platform for testing the reliability of the wire transmission structure of the surgical instrument in different degrees of freedom of motion according to claim 2, wherein: the end effector comprises a fixed joint and a swinging joint which is 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 support; at least one deflection freedom degree control wheel is arranged in the swing joint, the deflection freedom degree control wheel is fixedly connected with the swing joint, and the central line of the deflection freedom degree control wheel is superposed with the central line of a connecting pin shaft between the fixed joint and the swing joint.
4. The platform for testing the reliability of the wire transmission structure of the surgical instrument in different degrees of freedom of motion according to claim 3, wherein: the guide wheel set comprises a wheel set support, a front lower guide wheel, a rear lower guide wheel and a front upper guide wheel and a rear upper guide wheel, wherein the front lower guide wheel and the rear lower guide wheel are arranged on the wheel set support, the axial direction of the front lower guide wheel and the axial direction of the rear lower guide wheel are parallel to the axial direction of the driving wheel, and the axial direction of the front upper guide wheel and the axial direction of the rear upper guide wheel are perpendicular to the axial direction of the driving wheel.
5. A method for testing reliability of a wire transmission structure of different degrees of freedom of motion of a surgical instrument is based on the reliability testing platform of the wire transmission structure of different degrees of freedom of motion of the surgical instrument, and the testing steps of the free end of deflection motion are as follows:
step 1, installing a steel wire rope on a test platform: one end of the steel wire rope is wound in one section of spiral groove on the driving wheel, penetrates through a rope hole at the end and is fixed through a knot, the other end of the steel wire rope sequentially bypasses the guide wheel, the three-pulley tension sensor and the deflection freedom degree control wheel, then bypasses the guide wheel and is wound back to the other section of spiral groove on the driving wheel, and finally, the steel wire rope is fixed through the knot through the rope hole at the other end;
step 2, connecting the three-pulley tension sensor to a computer, resetting an initial value, and monitoring and recording subsequent tension data of the steel wire rope;
step 3, adjusting the displacement of a sliding block of the linear sliding table, and applying different initial tension forces to the steel wire rope;
and 4, starting the direct current servo motor to drive the driving wheel to rotate forward and backward, realizing the circular 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, stopping the test until the steel wire rope is broken, and recording related service life data.
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| CN202111245151.XA CN113984383A (en) | 2021-10-26 | 2021-10-26 | Platform and method for testing reliability of wire transmission structure of surgical instrument with different degrees of freedom of motion |
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| CN202111245151.XA CN113984383A (en) | 2021-10-26 | 2021-10-26 | Platform and method for testing reliability of wire transmission structure of surgical instrument with different degrees of freedom of motion |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023151451A1 (en) * | 2022-02-14 | 2023-08-17 | 极限人工智能有限公司 | Instrument driving module, surgery power device, and split-type surgical device |
| CN118171497A (en) * | 2024-05-14 | 2024-06-11 | 吉林大学 | Force position transmission model of wire drive surgical instrument and error compensation method |
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