Real-time variable loading device and system for a drive module of a rotational atherectomy device

Abstract

The present disclosure provides a real-time variable loading device and system for a rotary biopsy device driving module. A system for real-time variable loading of a rotary biopsy device driving module, comprising: a driving module and a real-time variable loading device; the real-time variable loading device comprises a dynamometer unit, a mounting frame and a base, and the dynamometer unit is fixedly installed on the base. A plurality of driving modules are arranged at different positions of the mounting frame and can be connected to the dynamometer unit through movement of the mounting frame. A torque acquisition module is connected to the dynamometer unit. A main control module is connected to the torque acquisition module. A first driving device has one end connected to the dynamometer unit and the other end connected to the main control module. A second driving device has one end connected to the driving module and the other end connected to the main control module. The present disclosure can perform closed-loop testing of variable loading of the driving module, simulate the actual working environment of the driving module, detect whether the performance indicators of the driving module are qualified, and effectively test the driving module.

Description

Technical Field

[0001] This disclosure relates to the field of breast biopsy equipment technology, and in particular to a real-time variable loading device and system for a drive module of a biopsy equipment. Background Technology

[0002] In recent years, minimally invasive surgery performed using breast biopsy equipment has gained widespread popularity due to its small incision, high precision, and ability to preserve the shape of the surgical site. The drive module of the breast biopsy equipment is the energy source during the procedure, making it a crucial component of the entire system. The drive module of breast biopsy equipment typically uses a motor.

[0003] Currently available breast biopsy equipment does not undergo pre-shipment load testing of its drive module. The drawback of this design is that, due to the lack of effective load testing, malfunctions such as motor shaft breakage, stalling, and overheating are prone to occur during actual use, leading to poor reliability of the drive module. Summary of the Invention

[0004] In view of this, the purpose of this disclosure is to propose a system for real-time variable loading of the drive module of a rotary biopsy device, which can effectively perform pre-shipment testing of the drive module.

[0005] To achieve the above objectives, this disclosure provides a system for real-time variable loading of a drive module in a rotary biopsy device, comprising: a drive module, and further comprising: a real-time variable loading device; the real-time variable loading device includes a dynamometer unit, a mounting bracket, and a base, wherein the dynamometer unit is fixedly mounted on the base and is used to apply different loads to the drive module; the mounting bracket is movably mounted on the base; a plurality of drive modules are disposed at different positions on the mounting bracket and can be connected to the dynamometer unit respectively through the movement of the mounting bracket; the real-time variable loading device further includes:

[0006] The torque acquisition module, connected to the dynamometer unit, is used to acquire the feedback torque value T from the dynamometer unit. f ;

[0007] The main control module is connected to the torque acquisition module and can receive signals from the torque acquisition module.

[0008] The first drive unit is connected to the dynamometer unit at one end and to the main control module at the other end, and is used to control the dynamometer unit to load different torques.

[0009] The second drive unit is connected to the drive module at one end via the target switching module and to the main control module at the other end.

[0010] The main control module can select the drive module for torque testing through the second drive device and target switching module, and calculate the set torque value T of the drive module at different angular positions.i Simultaneously, it can control the first drive device to enable the dynamometer unit to apply a set torque T to the drive module. i ;

[0011] The main control module will set the torque value T i and feedback torque value T f The comparison is performed, and after processing and calculation, the loading value of the dynamometer unit is obtained. The dynamometer unit applies a load according to the loading value, and then periodically collects and repeats the feedback torque value T. f and the set torque value T i By making comparisons and performing calculations, the load value of the dynamometer unit is obtained, and the load is applied repeatedly in a loop.

[0012] Furthermore, the first drive unit causes the dynamometer unit to apply a set torque T to the drive module. i This includes: the main control module can control several drive modules to perform different periodic rotations, and apply different torque values ​​for the corresponding periodic rotations.

[0013] Furthermore, while the main control module controls the drive module to rotate periodically, it also controls the rotation according to the set torque value T. i The control dynamometer unit applies different loads.

[0014] Furthermore, the processing operation is a PI operation.

[0015] Furthermore, it also includes a position acquisition module, which is connected to the drive module at one end and to the main control module at the other end, and is used to acquire the real-time position of the drive module.

[0016] Furthermore, it also includes a power module, which is connected to the first drive device and the second drive device and is used to provide power to the first drive device and the second drive device.

[0017] Furthermore, it also includes a host computer terminal, which is connected to the main control module and is used to select the driver module and its loading mode.

[0018] Based on the same inventive concept, this disclosure also provides a real-time variable loading device for a drive module of a rotary biopsy device, comprising: a dynamometer unit, a mounting bracket, and a base; the dynamometer unit is fixedly mounted on the base for applying a load to the drive module; the mounting bracket is movably mounted on the base for mounting the drive module.

[0019] The torque acquisition module, connected to the dynamometer unit, is used to acquire the feedback torque value T from the dynamometer unit. f ;

[0020] The main control module is connected to the torque acquisition module and can receive signals from the torque acquisition module for processing system signals.

[0021] The first drive unit is connected to the dynamometer unit at one end and to the main control module at the other end, and is used to control the dynamometer unit to load different torques.

[0022] The second drive unit is connected to the drive module at one end via the target switching module and to the main control module at the other end.

[0023] The main control module can select the drive module for torque testing through the second drive device and target switching module, and calculate the set torque value T of the drive module at different angular positions. i Simultaneously, it can control the first drive device to enable the dynamometer unit to apply a set torque T to the drive module. i ;

[0024] The main control module will set the torque value T i and feedback torque value T f The comparison is performed, and after processing and calculation, the loading value of the dynamometer unit is obtained. The dynamometer unit applies a load according to the loading value, and then periodically collects and repeats the feedback torque value T. f and the set torque value T i By making comparisons and performing calculations, the load value of the dynamometer unit is obtained, and the load is applied repeatedly in a loop.

[0025] Furthermore, the mounting bracket can be installed in a sliding manner.

[0026] Furthermore, the mounting bracket includes multiple coaxially arranged transmission gears, with each drive module connected to at least one of the transmission gears; the dynamometer unit includes a loading gear, which, under the relative sliding action between the mounting bracket and the base, can mesh with each transmission gear respectively.

[0027] Compared with the prior art, the technical solution provided in this disclosure can perform closed-loop testing of the drive module under variable loading, simulate the actual working environment of the drive module, approximate the working state of the drive module of the rotary biopsy equipment, detect whether the performance indicators of the drive module are qualified, enable the drive module to perform performance parameter testing before entering the market, reduce the failure rate of the drive module, and improve the reliability of the drive module. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in this disclosure or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 A schematic diagram of a real-time variable loading device for a drive module of a rotary biopsy device provided in an embodiment of this disclosure;

[0030] Figure 2 A flowchart of the running driver module provided in the embodiments of this disclosure;

[0031] Figure 3 A flowchart of the variable loading of the dynamometer unit provided in this embodiment of the disclosure;

[0032] Figure 4 A schematic diagram of a real-time variable loading device for a drive module of a rotary biopsy device provided in an embodiment of this disclosure;

[0033] Figure 5 A diagram showing the positional relationship between the drive module and the mounting bracket provided in an embodiment of this disclosure;

[0034] Figure 6 This is a schematic diagram of a dynamometer unit provided in an embodiment of this disclosure. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0036] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this disclosure should have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and similar terms used in the embodiments of this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0037] The inventors discovered that there is currently no device or system on the market that provides variable loading for the drive module of breast biopsy equipment. Therefore, the drive module of breast biopsy equipment is prone to malfunctions such as motor shaft breakage, shutdown, and overheating during use, resulting in poor reliability. The drive module of breast biopsy equipment typically uses three motors, in conjunction with other mechanical structures, to drive the cutting needle for translational movement, oscillation, and circumferential rotation, respectively. For details, please refer to the prior Chinese patent application, patent application number: 202210378017.5, title: A Breast Biopsy Device.

[0038] Existing variable loading devices typically adjust the current value of the magnetic particle brake by using a preset current-torque curve. However, this method cannot accurately load the drive module in real time, especially for the drive module of breast biopsy equipment. It cannot approximate real-world operating conditions, resulting in low testing accuracy. Therefore, existing variable loading devices are not suitable for testing the drive module of breast biopsy equipment.

[0039] Furthermore, existing loading devices can only fix one test motor (drive module) for loading tests. For details, please refer to the prior Chinese patent application, patent application number: CN201620836315.4, title: A torque loading device with precise torque control and low cost. Its drawback is that when testing other motors, the test motor needs to be disassembled and reinstalled, which is cumbersome and not conducive to repeated use.

[0040] Therefore, this disclosure provides a system for real-time variable loading of a drive module in a rotary biopsy device, which can accurately test the variable loading of the drive module and improve its reliability. Figure 1 The image shows an embodiment of a real-time variable loading system for a drive module of a rotary biopsy device disclosed herein, comprising: a real-time variable loading device 100 and several drive modules 200.

[0041] The real-time variable loading device 100 includes a dynamometer unit 10, a mounting bracket 20, a base 30, a torque acquisition module 300, a main control module 400, a first drive device 500, a target switching module 600, and a second drive device 700. The base 30 is set on the working surface for support. The dynamometer unit 10 is fixedly mounted on the base 30 and is used to apply a load to the drive module 200. The load applied by the dynamometer unit 10 in this disclosure is torque. The specific structure for fixed mounting can adopt conventional methods such as screws, bolts, and welding. The mounting bracket 20 is movably mounted on the base 30. For movable mounting, a translational movement method is preferred; this disclosure uses a slide rail toothed groove as an example. Optionally, the specific structure for movable mounting can also be selected according to needs, such as vertical movement, rotational movement, or a combination of the above movement methods, for example, using a combination of X-axis, Y-axis, and Z-axis units. A magnetic powder brake is installed inside the dynamometer unit 10. Different torques are applied and the torque is output in real time through the magnetic powder brake. The working principle of the magnetic powder brake is existing conventional technology and will not be described in detail here.

[0042] Mounting bracket 20 includes multiple coaxially arranged transmission gears, and each drive module 200 is connected to at least one of the transmission gears. The dynamometer unit 10 includes a loading gear 11. Under the relative translational movement of the mounting bracket 20 and the base 30, the loading gear 11 can mesh with each transmission gear respectively. Torque can be applied to the drive module 200 by controlling the output torque of the loading gear 11.

[0043] Several drive modules 200 are disposed at different positions on the mounting bracket 20, and can be connected to the dynamometer unit 10 through the movement of the mounting bracket 20. Preferably, the drive module 200 is a motor, specifically a motor capable of producing translational movement, oscillation, and circumferential rotation in conjunction with other mechanical structures, and is provided with an output gear meshing with a loading gear 11. The drive module 200 can be an axial motor, a cutting motor, etc.

[0044] Specifically, taking the drive module 200 with three sets of motors as an example, namely the first motor 201, the second motor 202, and the third motor 203, the three sets of motors can be adapted to the breast biopsy equipment. Among them, the first motor 201 can drive the cutting needle to swing, the second motor 202, in conjunction with the lead screw (not shown in the figure), can drive the cutting needle to translate, and the third motor 203 can drive the cutting needle to rotate circumferentially.

[0045] Correspondingly, the mounting bracket 20 is provided with at least three sets of transmission gears, namely a first transmission gear 21, a second transmission gear 22, and a third transmission gear 23. The output gear of the first motor 201 meshes with the first transmission gear 21, the output gear of the second motor 202 meshes with the second transmission gear 22, and the output gear of the third motor 203 meshes with the third transmission gear 23. Figure 5 As shown, the second transmission gear 22, the third transmission gear 23, and the first transmission gear 21 are coaxially arranged and gradually move away from the mounting frame 20. The main control module 400 controls the mounting frame 20 to slide on the base 30, so that the drive module 200 to be tested on the mounting frame 20 is connected to the dynamometer unit 10 through the transmission gears, that is, the corresponding transmission gear meshes with the loading gear 11 of the dynamometer unit 10. Optionally, as needed, the mounting frame 20 can also be pushed manually to slide on the base 30, so that the corresponding transmission gear meshes with the loading gear 11 of the dynamometer unit 10, making the device simpler. It is understood that the structure of the mounting frame 20 needs to be adjusted accordingly to adapt to the drive modules of other equipment.

[0046] The torque acquisition module 300 is connected to the dynamometer unit 10 and is used to acquire the torque value of the dynamometer unit 10. Preferably, the torque acquisition module 300 is a torque sensor, which acquires the current and voltage of the dynamometer unit 10 to determine the torque value. The specific working principle is conventional technology and will not be described in detail here.

[0047] The main control module 400 is connected to the torque acquisition module 300 and can receive signals from the torque acquisition module 300 for processing system signals. The main control module 400 can be a PLC, microcontroller, or other similar system.

[0048] The first drive device 500 is connected at one end to the dynamometer unit 10 and at the other end to the main control module 400, and is used to control the dynamometer unit 10 to apply different torques. Specifically, the first drive device 500, based on the different angular positions of the drive module 200, processes and calculates to control the dynamometer unit 10 to apply different torque values.

[0049] The target switching module 600 is connected to the driver module 200 at one end and to the main control module 400 at the other end, and is used to switch the driver module 200 that needs to be tested.

[0050] The second drive device 700 is connected to the drive module 200 at one end via the target switching module 600, and to the main control module 400 at the other end. When it is necessary to switch the drive module 200, the target switching module 600 receives the instruction from the main control module 400 to switch to the corresponding circuit of the drive module 200 under test. The second drive device 700 controls the mounting bracket 20 to slide relative to the base 30, so that the transmission gear meshing with the drive module 200 to be tested meshes with the loading gear 11 of the dynamometer unit 10, thereby realizing the switching of the drive module 200.

[0051] The main control module 400 can select different drive modules 200 for torque testing through the second drive device 700 and the target switching module 600, and calculate the set torque value T of the drive module 200 at different angular positions. i Simultaneously, it can control the first drive device 500 to cause the dynamometer unit 10 to apply a set torque T to the drive module 200. i It should be noted that the angular position here refers to the rotation angle of the drive module 200. Different torque values ​​are applied for different angular positions; for example, different torques are applied for a motor rotation of 1 degree and a motor rotation of 2 degrees.

[0052] Furthermore, the first drive unit 500 causes the dynamometer unit 10 to apply a set torque T to the drive module 200. iThe system includes a main control module 400 capable of controlling several drive modules 200 to perform different periodic rotations, and applying different torque values ​​corresponding to the periodic rotations. Specifically, when the first motor 201 is used as a test motor, it rotates clockwise 100 times and then counterclockwise 100 times as one cycle, continuously for 20 cycles to simulate oscillation. When the second motor 202 is used as a test motor, it first rotates clockwise 2000 times, stops for 5 seconds, and then rotates counterclockwise 2000 times to simulate translational movement. When the third motor 203 is used as a test motor, it rotates clockwise for 3 minutes, stops for 30 seconds, and then rotates counterclockwise for 3 minutes to simulate circumferential rotation. It is understood that the drive module 200 of this disclosure uses the above-mentioned periodic rotation as an example, but the scope of protection of this disclosure is not limited to this.

[0053] Correspondingly, the set torque value of the first motor 201 is:

[0054] Wherein, k1x is the calculation formula for the first motor 201 rotating clockwise, -k1x is the calculation formula for the first motor 201 rotating counterclockwise, k1 is the proportional coefficient of the first motor 201, which can be 0-3, and x is the number of rotations of the motor under test.

[0055] The set torque value of the second motor 202:

[0056] Where k2 is the proportional coefficient of the second motor 202, which can be 0-3, and mN*m represents millinewtons*meters.

[0057] The set torque value of the third motor 203:

[0058] Where t is the running time of the third motor 203.

[0059] While the main control module 400 controls the drive module 200 to rotate, it calculates the set torque value T. i The control dynamometer unit 10 applies different loads. For example... Figure 2 As shown, the set torque value T1 of the first motor 201 is set to the first loading mode, the set torque value T2 of the second motor 202 is set to the second loading mode, and the set torque value T3 of the third motor 203 is set to the third loading mode. When the main control module 400 controls the dynamometer unit 10 to test the motor of the drive module 200, the corresponding loading mode is used. For example, when the drive module 200 being tested is the first motor 201, the first loading mode is selected, k1 is set to 1, and when the first motor 201 rotates clockwise one revolution, the set torque value T1 of the first motor 201 is 1mN*m. At this time, the dynamometer unit 10 applies a torque of 1mN*m to the first motor 201. The set torque value T is calculated according to the above formula. iIt better reflects the actual working conditions of the drive module 200 of the breast biopsy equipment, which helps to improve the authenticity of the system test.

[0060] The main control module 400 uses the torque value acquired by the torque acquisition module 300 as the feedback torque value T. f The torque calculated by the drive module 200 is used as the set torque value T. i Then the torque value T will be set. i and feedback torque value T f By comparing and processing the data, the load value of the dynamometer unit 10 is obtained. The dynamometer unit 10 then applies a load to the drive module 200 based on this load value. Afterwards, the main control module 400 periodically and repeatedly collects and feeds back the torque value T. f and the set torque value T i After comparison and processing, the load value of the dynamometer unit 10 is obtained again, and the load is reapplied to the drive module 200. This cyclical application of load is repeated until the difference between the two values ​​is zero or they are approximately equal, forming a closed-loop test. Ideally, the feedback torque value T is collected every 100 microseconds during this periodic repetition. f This enables real-time and precise control of the dynamometer unit 10. It should be noted that the shorter the repetition interval, the stronger the real-time performance and the higher the control precision. Optionally, the repetition period can be selected from 100 to 200 microseconds as needed. This disclosure uses a closed-loop control system composed of a first drive device 500, a second drive device 700, and a torque acquisition module 300 to continuously reduce the set torque value T. i and feedback torque value T f The difference in values ​​allows the dynamometer unit 10 to realistically reproduce the working state of the drive module 200, improving the test accuracy of the drive module 200.

[0061] This disclosure uses the drive module 200 of a breast biopsy device as an example; it is understood that the scope of protection of this disclosure is not limited thereto.

[0062] For example, the main control module 400 performs PI calculations (P for proportional control and I for integral control).

[0063] For example, the system also includes a position acquisition module 800. One end of the position acquisition module 800 is connected to the drive module 200, and the other end is connected to the main control module 400. This module is used to acquire the real-time position of the drive module 200 and send it to the main control module 400 in real time. The position acquisition module 800 can use a laser sensor. When the drive module 200 reaches different positions, the laser beam from the laser sensor at those positions is blocked, thus enabling accurate acquisition of the real-time position of the drive module 200.

[0064] For example, a power module 900 is also included, which is connected to the first drive device 500 and the second drive device 700 to provide power to both. The power module 900 can be a conventional power source such as a battery pack or battery array.

[0065] For example, it also includes a host computer terminal 1000, which is connected to the main control module 400 and is used to select the driver module 200 and its loading mode. The host computer terminal 1000 is preferably a computer.

[0066] like Figure 3 As shown, the working process of the device in this embodiment is as follows: The host computer terminal 1000 selects the drive module 200 to be tested and its corresponding loading mode, and sends the corresponding signal to the main control module 400. The main control module 400 switches the corresponding circuit of the drive module 200 under test through the target switching module 600. Then, the signal is sent to control the mounting bracket 20 to slide on the base 30, so that the drive module 200 to be tested is connected to the dynamometer unit 10 through the transmission gear, that is, the corresponding transmission gear meshes with the loading gear 11 of the dynamometer unit 10. The position acquisition module 800 acquires the relative position of the drive module 200 in real time to determine whether it is the drive module 200 to be tested. If so, it controls the mounting bracket 20 to stop sliding.

[0067] The main control module 400 calculates the required torque value T based on the formula for the corresponding loading mode. i The power testing unit 10 applies a load to the drive module 200 that needs to be tested.

[0068] The torque acquisition module 300 acquires the feedback torque value T from the dynamometer unit 10. f And upload it to the main control module 400. The main control module 400 will set the torque value T. i and feedback torque value T f By comparing and performing PI calculations, the load value of the dynamometer unit 10 is obtained. The dynamometer unit 10 then applies a load to the drive module 200 based on this load value. Afterwards, the main control module 400 periodically and repeatedly collects and feeds back the torque value T. f and the set torque value T i By comparing and processing the data, the load value of the dynamometer unit 10 is obtained again, and the load is reapplied to the drive module 200. This process of applying the load is repeated until the difference between the two values ​​is zero or they are approximately equal, forming a closed-loop test. This allows for real-time and precise control of the dynamometer unit 10.

[0069] This disclosure also provides a real-time variable loading device for a drive module of a rotary biopsy device, comprising: a dynamometer unit 10, a mounting bracket 20, and a base 30. The dynamometer unit 10 is fixedly mounted on the base 30 and is used to apply a load to the drive module 200. The mounting bracket 20 is movably mounted on the base 30 and is used to mount the drive module 200. A torque acquisition module 300 is connected to the dynamometer unit 10 and is used to acquire the feedback torque value T of the dynamometer unit 10. f The main control module 400 is connected to the torque acquisition module 300 and can receive signals from the torque acquisition module 300. The first drive device 500 is connected at one end to the dynamometer unit 10 and at the other end to the main control module 400, and is used to control the dynamometer unit 10 to apply different torques. The second drive device 700 is connected at one end to the drive module 200 via the target switching module 600, and at the other end to the main control module 400.

[0070] The main control module 400 can select different drive modules 200 for torque testing through the second drive device 700 and the target switching module 600, and calculate the set torque value T of the drive module 200 at different angular positions. i Simultaneously, it can control the first drive device 500 to cause the dynamometer unit 10 to apply a set torque T to the drive module 200. i .

[0071] The main control module 400 will set the torque value T i and feedback torque value T f After comparison and processing, the load value of the dynamometer unit 10 is obtained; the dynamometer unit 10 applies a load to the drive module 200 based on the load value. Then, the main control module 400 periodically and repeatedly collects and feeds back the torque value T. f and the set torque value T i After comparison and processing, the load value of the dynamometer unit 10 is obtained again, and the load is reapplied to the drive module 200. The load application is repeated cyclically until the difference between the two is 0 or they are approximately equal, forming a closed-loop test.

[0072] Specifically, the mounting bracket 20 is slidably mounted on the base 30. For example, it can be mounted movably via a slide rail. Optionally, the specific structure of the movable mounting can also be selected according to needs, such as vertical movement, rotational movement, or a combination of the above movement methods, for example, using a combination of X-axis units, Y-axis units, and Z-axis units. By setting up a movable mounting bracket 20, it is convenient to switch between different drive modules 200 for testing without having to disassemble and reinstall the drive modules 200, thus simplifying operation.

[0073] Mounting bracket 20 includes multiple coaxially arranged transmission gears, and each drive module 200 is connected to at least one of the transmission gears. Dynamometer unit 10 includes a loading gear 11. Under the relative translational movement of mounting bracket 20 and base 30, the loading gear 11 can mesh with each transmission gear respectively.

[0074] The specific structure of the real-time variable loading device is the same as that of the system described above, and for the sake of simplicity, it will not be described again here.

[0075] In some other embodiments, the difference from the above embodiments is that the dynamometer unit 10 is movably mounted on the base 30 for applying a load to the drive module 200. The mounting bracket 20 is fixedly mounted on the base 30.

[0076] This disclosure also provides a control method for a real-time variable loading device for a drive module of a rotary biopsy device, comprising: a plurality of drive modules 200 and a real-time variable loading device 100.

[0077] The real-time variable load device 100 includes a dynamometer unit 10, a mounting frame 20, and a base 30. The dynamometer unit 10 is fixedly mounted on the base 30 and is used to apply different loads to the drive module 200. The mounting frame 20 is movably mounted on the base 30. Several drive modules 200 are disposed at different positions on the mounting frame 20 and can be connected to the dynamometer unit 10 respectively through the movement of the mounting frame 20.

[0078] The real-time variable loading device 100 also includes:

[0079] The torque acquisition module 300 is connected to the dynamometer unit 10 and is used to acquire the feedback torque value T from the dynamometer unit 10. f .

[0080] The main control module 400 is connected to the torque acquisition module 300 and can receive signals from the torque acquisition module 300 for processing system signals.

[0081] The first drive device 500 is connected at one end to the dynamometer unit 10 and at the other end to the main control module 400, and is used to control the dynamometer unit 10 to load different torques.

[0082] The target switching module 600 is connected to the drive module 200 at one end and to the main control module 400 at the other end, and is used to switch the circuit of the drive module 200 that needs to be tested.

[0083] The second drive unit 700 is connected to the drive module 200 at one end via the target switching module 600, and to the main control module 400 at the other end.

[0084] The method includes the following steps:

[0085] The main control module 400 can select different drive modules 200 for torque testing through the second drive device 700 and the target switching module 600, and calculate the set torque value T of the drive module 200 at different angular positions. i Simultaneously, it can control the first drive device 500 to cause the dynamometer unit 10 to apply a set torque T to the drive module 200. i .

[0086] The main control module 400 will set the torque value T i and feedback torque value T f After comparison and processing, the load value of the dynamometer unit 10 is obtained; the dynamometer unit 10 applies a load to the drive module 200 based on the load value. Then, the main control module 400 periodically and repeatedly collects and feeds back the torque value T. f and the set torque value T i After comparison and processing, the load value of the dynamometer unit 10 is obtained again, and the load is reapplied to the drive module 200. The load application is repeated cyclically until the difference between the two is 0 or they are approximately equal, forming a closed-loop test.

[0087] The above embodiments of this disclosure achieve the following technical effects: By using the main control module 400, the first drive device 500, the dynamometer unit 10, and the torque acquisition module 300, a closed-loop test with variable loading is performed on the drive module 200. This simulates the actual working environment of the drive module 200, approximating the working state of the drive module in the rotary biopsy equipment, and detecting whether the performance indicators of the drive module 200 are qualified. This allows the drive module 200 to undergo performance parameter testing before being put on the market, reducing its actual failure rate and improving its reliability. The movable mounting bracket 20 facilitates switching between different drive modules 200 for testing without requiring disassembly and reinstallation of the drive module 200, thus simplifying operation.

[0088] Although this disclosure has been described in conjunction with specific embodiments thereof, many substitutions, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description.

[0089] This disclosure is intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A system for real-time variable loading of a drive module for a rotary biopsy device, comprising: The drive module, characterized in that it further includes: a real-time variable loading device; the real-time variable loading device includes a dynamometer unit, a mounting frame, and a base; the dynamometer unit is fixedly mounted on the base and is used to apply different loads to the drive module; the mounting frame is movably mounted on the base; a plurality of drive modules are disposed at different positions on the mounting frame and can be connected to the dynamometer unit respectively through the movement of the mounting frame; the real-time variable loading device further includes: A torque acquisition module, connected to the dynamometer unit, is used to acquire the feedback torque value T from the dynamometer unit. f ; The main control module is connected to the torque acquisition module and is able to receive signals from the torque acquisition module; The first drive device is connected at one end to the dynamometer unit and at the other end to the main control module, and is used to control the dynamometer unit to load different torques. The second drive device is connected to the drive module at one end via the target switching module and to the main control module at the other end. The main control module can select the drive module for torque testing through the second drive device and the target switching module, and calculate the set torque value T of the drive module at different angular positions. i Simultaneously, it can control the first drive device so that the dynamometer unit applies a set torque T to the drive module. i ; The main control module will set the torque value T. i and feedback torque value T f By comparing and processing the data, the loading value of the dynamometer unit is obtained; the dynamometer unit applies a load according to the loading value, and then periodically collects and repeats the feedback torque value T. f and the set torque value T i By making comparisons and performing calculations, the load value of the dynamometer unit is obtained, and the load is applied repeatedly in a loop. The mounting bracket includes multiple coaxially arranged transmission gears, and each drive module is connected to at least one of the transmission gears. The dynamometer unit includes a loading gear, which can mesh with each transmission gear under the relative translational movement of the mounting frame and the base. The torque can be applied to the drive module by controlling the output torque of the loading gear. The drive module includes a first motor, a second motor, and a third motor. The first motor drives the rotary cutting needle to swing, the second motor drives the rotary cutting needle to translate, and the third motor drives the rotary cutting needle to rotate circumferentially. The first drive device causes the dynamometer unit to apply a set torque T to the drive module. i This includes: the main control module can control several drive modules to perform different periodic rotations, and apply different torque values ​​for the corresponding periodic rotations.

2. The system for real-time variable loading of a drive module for a rotary biopsy device according to claim 1, characterized in that, While the main control module controls the drive module to rotate periodically, it also controls the rotation according to the set torque value T. i The control dynamometer unit applies different loads.

3. The system for real-time variable loading of a drive module for a rotary biopsy device according to claim 1, characterized in that, The processing operation is a PI operation.

4. The system for real-time variable loading of a drive module for a rotary biopsy device according to claim 1, characterized in that, It also includes a location acquisition module, one end of which is connected to the drive module and the other end is connected to the main control module, for acquiring the real-time location of the drive module.

5. The system for real-time variable loading of a drive module for a rotary biopsy device according to claim 1, characterized in that, It also includes a power module, which is connected to the first drive device and the second drive device and is used to provide power to the first drive device and the second drive device.

6. The system for real-time variable loading of a drive module for a rotary biopsy device according to claim 1, characterized in that, It also includes a host computer terminal, which is connected to the main control module and is used to select the driver module and its loading mode.

7. A real-time variable loading device for a drive module of a rotary biopsy equipment, characterized in that, include: The dynamometer unit, mounting bracket, and base are provided. The dynamometer unit is fixedly mounted on the base and is used to apply a load to the drive module. The mounting bracket is movably mounted on the base and is used to mount the drive module. A torque acquisition module, connected to the dynamometer unit, is used to acquire the feedback torque value T from the dynamometer unit. f ; The main control module is connected to the torque acquisition module and is able to receive signals from the torque acquisition module; The first drive device is connected at one end to the dynamometer unit and at the other end to the main control module, and is used to control the dynamometer unit to load different torques. The second drive device is connected to the drive module at one end via the target switching module and to the main control module at the other end. The main control module can select the drive module for torque testing through the second drive device and the target switching module, and calculate the set torque value T of the drive module at different angular positions. i Simultaneously, it can control the first drive device so that the dynamometer unit applies a set torque T to the drive module. i ; The main control module will set the torque value T. i and feedback torque value T f By making comparisons and performing calculations, the loading value of the dynamometer unit is obtained; The dynamometer unit applies a load based on the applied value, and then periodically collects and repeats the feedback torque value T. f and the set torque value T i By making comparisons and performing calculations, the load value of the dynamometer unit is obtained, and the load is applied repeatedly in a loop. The mounting bracket includes multiple coaxially arranged transmission gears, and each drive module is connected to at least one of the transmission gears. The dynamometer unit includes a loading gear, which can mesh with each transmission gear under the relative translational movement of the mounting frame and the base. The torque can be applied to the drive module by controlling the output torque of the loading gear. The drive module includes a first motor, a second motor, and a third motor. The first motor drives the rotary cutting needle to swing, the second motor drives the rotary cutting needle to translate, and the third motor drives the rotary cutting needle to rotate circumferentially. The first driving device enables the dynamometer unit to apply a set torque Ti to the driving module, including: the main control module can control several driving modules to perform different periodic rotations, and apply different torque values ​​for the periodic rotations.

8. The real-time variable loading device for the drive module of a rotary biopsy device according to claim 7, characterized in that, The mounting bracket is movably installed via a sliding mechanism.

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