Platform and method for testing reliability of different-motion-freedom-degree wire transmission structure of surgical instrument

Abstract

The invention discloses a reliability test platform and method for a wire transmission structure with different degrees of motion freedom of a surgical instrument. 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 motion freedom of a steel wire rope and a linear sliding table, the driving wheel, the guide wheel set and the direct-current servo motor are installed on a driving end support, the direct-current servo motor is connected with the driving wheel through a coupler, the driving end support is fixed to a driving end support table, and the driving end support table is fixed to the portion, close to the left end, of a supporting base. The three-pulley tension sensor is fixed on the supporting base close to the middle position through a sensor bracket; the end effector is installed on an end effector support, the end effector support is connected with a sliding block of the linear sliding table, and a sliding base of the linear sliding table is fixed to the position, close to the right end, of the supporting base. According to the invention, the reliability of the wire transmission structure with different degrees of motion freedom of the surgical instrument under different working conditions can be tested.

Description

technical field [0001] The invention relates to the field of reliability testing of medical instruments, in particular to a reliability testing platform and method for wire transmission structures with different degrees of freedom of movement of surgical instruments. Background technique [0002] In robot-assisted minimally invasive surgery, surgical instruments are inserted into the human body and directly contact with internal organs and tissues for surgical operations. The operating environment is limited, so wire transmission is selected as its transmission mode. The wire rope is the core transmission part of the surgical instrument, which plays an important role in transmitting the doctor's surgical actions and plays an important role in a surgical operation. Surgical operation is a very complicated and time-consuming process. During the surgical operation, due to the internal environment and the structural characteristics of surgical instruments, the wire rope will ine...

AI Technical Summary

Problems solved by technology

[0003] Due to the limited operating space of minimally invasive surgery, each degree of freedom of movement of surgical instruments has its own wire transmission structure and structural size, and the existing testing devices for wire ropes are not suitable for relevant reliability tests. Therefore, it is necessary to develop a Aiming at the reliability test platform of wire transmission structure with different degrees of freedom of movement of surgical instruments, the wire transmission structure of each degree of freedom of movement is tested to ensure the reliability of surgical instruments

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