A method for quantitatively evaluating performance of a medical bipolar coagulation forceps

Abstract

The application provides a medical bipolar electrocoagulation forceps performance quantitative evaluation method, and belongs to the field of medical instrument performance detection. The method comprises the following steps: obtaining pinch force and clamping force data of the forceps at different time points in a working process; drawing a curve diagram of the pinch force and the clamping force changing with time; selecting the size of a slope mutation point in a pinch force rising stage as a pinch force compensation value in the curve diagram; selecting a region between the mutation point and a pinch force maximum point as an analysis region; calculating a ratio of the clamping force plus the compensation value to the pinch force in the region according to a physics force principle; if the ratio extreme value is in a set range, drawing a curve diagram of the pinch force and the ratio; and integrating the curve in the pinch force direction in the set range of the ratio to obtain a medical bipolar electrocoagulation forceps performance index. The application uses the medical bipolar electrocoagulation forceps performance index to quantitatively evaluate the performance of the medical bipolar electrocoagulation forceps, thereby making up for defects of existing bipolar electrocoagulation forceps performance evaluation methods.

Description

Technical Field

[0001] This invention belongs to the field of medical device performance testing, specifically relating to a quantitative evaluation method for the performance of medical bipolar electrocoagulation forceps. Background Technology

[0002] As a key instrument in high-frequency surgery, the performance of medical bipolar electrocoagulation forceps directly affects surgical precision and operational safety.

[0003] The current performance evaluation methods for medical bipolar electrocoagulation forceps mainly include: (1) measuring the deformation of the forceps arm by strain gauges to infer the pinching force, but not involving the measurement of clamping force, and static detection is detached from the real operation scenario; (2) integrating micro sensors at the tip of the forceps to obtain the clamping force, but ignoring the monitoring of pinching force, and not establishing a dual-force correlation model between clamping force and pinching force.

[0004] Therefore, current performance evaluation methods for medical bipolar electrocoagulation forceps have the following shortcomings:

[0005] 1. Limitations of a single indicator: Existing evaluation methods only test static pinching force, ignoring the dynamic coupling relationship between pinching force and clamping force. This makes it impossible to quantify the core performance of tweezers in "generating large clamping force with small pinching force".

[0006] 2. Lack of dynamic process: Traditional detection equipment (such as digital push-pull force gauges) only measures the force value at a single point at a fixed opening and closing angle, and cannot capture the mechanical changes of the continuous kneading process in actual surgery (such as the sudden change of force at the moment of contact of the forceps tip, the force transmission delay effect, etc.).

[0007] 3. Subjective evaluation criteria: Manufacturers rely on empirical parameters (such as spring stiffness and arm-to-arm ratio) or doctor's tactile feedback to adjust the design, lacking quantitative performance indices, resulting in:

[0008] (1) Performance fluctuation of tweezers of the same model > 30%;

[0009] (2) Many surgeons reported that forceps needed to be changed frequently during surgery to match tissue types.

[0010] A quantitative evaluation method for the performance of medical bipolar electrocoagulation forceps plays a crucial role in the design and production of forceps. However, current industry evaluation standards have various technical deficiencies, so there is an urgent need for an effective and feasible evaluation method. Summary of the Invention

[0011] The purpose of this invention is to provide a quantitative evaluation method for the performance of medical bipolar electrocoagulation forceps. This method analyzes the dynamic synergistic relationship between pinching force and clamping force, and uses a forceps performance index to quantitatively evaluate the performance of the forceps, thereby overcoming the shortcomings of existing bipolar electrocoagulation forceps performance evaluation methods.

[0012] To achieve the above objectives, the technical solution adopted by this invention is: a method for quantitatively evaluating the performance of medical bipolar electrocoagulation forceps, comprising the following steps:

[0013] The first step is to obtain the kneading force and clamping force at various time points during the kneading process of the medical bipolar electrocoagulation forceps, and to plot the kneading force curve and clamping force curve with time as the abscissa and pressure as the ordinate, wherein the pressure is the kneading force and clamping force.

[0014] The second step is to obtain the performance index of the medical bipolar electrocoagulation forceps. The larger the performance index, the better the performance of the medical bipolar electrocoagulation forceps (1). The method for obtaining the performance index is as follows:

[0015] (1) For the kneading force curve, find the intersection point Q of the curve after it is fitted into two straight lines in the rising segment of the kneading force curve, record the kneading force corresponding to the point, and define the corresponding kneading force value as the compensation value c.

[0016] (2) Select the interval between the intersection point Q and the maximum value of the rising segment of the pinching force curve as the working interval for analyzing the pinching force and clamping force; define the mechanical performance coefficient k of the medical bipolar electrocoagulation forceps, and , Where F1 is the pinching force of the medical bipolar electrocoagulation forceps, F2 is the clamping force of the medical bipolar electrocoagulation forceps, and c is the compensation value; then calculate all within this working range. value;

[0017] (3) Plot a graph with F1 as the x-axis. The F1-k curve is plotted with the value as the ordinate, and the definition is... The effective interval [k1, k2] of the value is used as the comparison interval, and 0 < k1 < k2 < 1. Perpendicular lines are drawn from points k1 and k2 on the F1-k curve to the horizontal axis of the curve, and the two perpendicular lines obtained are used as two horizontal boundary lines.

[0018] (4) If the F1-k curve can cross the interval [k1, k2], it means that the working interval selected in step (2) is a valid interval; otherwise, the selected working interval is invalid, and a new working interval is selected.

[0019] (5) Define the performance index of medical bipolar electrocoagulation forceps When the selected working interval is valid, the F1 values ​​corresponding to the two horizontal boundary lines are a and b, respectively, forming the integration interval [a, b], which is used to calculate S. k .

[0020] Furthermore, in the first step of measuring the clamping force, the force-receiving end of the clamping force measuring component is placed in the gap between the tips of the medical bipolar electrocoagulation forceps, and the corresponding clamping force F2 is measured during the pinching process of the medical bipolar electrocoagulation forceps.

[0021] Furthermore, the clamping force measuring component includes a second pressure sensor and Z-shaped fasteners fixed on opposite sides of the second pressure sensor. The Z-shaped fasteners are bent sheet-like structures with one end as a fixing surface and the other end as a force-bearing surface. The fixing surface is fitted and connected to the second pressure sensor, and the two force-bearing surfaces of the two Z-shaped fasteners form the force-bearing end of the clamping force measuring component.

[0022] Furthermore, the Z-shaped fastener is made of a material with an elastic modulus greater than 400 GPa.

[0023] Furthermore, in the first step of measuring the pinching force, the reciprocating motion of the push-pull mechanism is applied to the pinching point of the medical bipolar electrocoagulation forceps to simulate the pinching process of a person using the medical bipolar electrocoagulation forceps, thereby measuring the pinching force F1 during the pinching process.

[0024] Furthermore, the push-pull mechanism includes a left push-pull mechanism, a right push-pull mechanism, and a first pressure sensor. The left push-pull mechanism and the right push-pull mechanism act on the two arms of the medical bipolar electrocoagulation forceps, and the directions of the forces exerted by the left push-pull mechanism and the right push-pull mechanism on the medical bipolar electrocoagulation forceps are on the same horizontal line. The first pressure sensor is installed on the left push-pull mechanism or the right push-pull mechanism.

[0025] Furthermore, both the left-side push-pull mechanism and the right-side push-pull mechanism are electric push rod devices.

[0026] Furthermore, the right push-pull mechanism is mounted on the X-axis horizontal motion drive mechanism to enable the right push-pull mechanism to move horizontally along the X-axis; the left push-pull mechanism is mounted on the Z-axis vertical motion drive mechanism, which is fixed on the Y-axis horizontal motion drive mechanism. Through the cooperation of the Y-axis horizontal motion drive mechanism and the Z-axis vertical motion drive mechanism, the left push-pull mechanism can move horizontally along the Y-axis and vertically along the Z-axis.

[0027] Furthermore, the left push-pull mechanism is mounted on the X-axis horizontal motion drive mechanism to enable the left push-pull mechanism to move horizontally along the X-axis; the right push-pull mechanism is mounted on the Z-axis vertical motion drive mechanism, which is fixed on the Y-axis horizontal motion drive mechanism. Through the cooperation of the Y-axis horizontal motion drive mechanism and the Z-axis vertical motion drive mechanism, the right push-pull mechanism can move horizontally along the Y-axis and vertically along the Z-axis.

[0028] Furthermore, the X-axis horizontal motion drive mechanism, the Y-axis horizontal motion drive mechanism, and the Z-axis vertical motion drive mechanism are all lead screw drive mechanisms.

[0029] The beneficial effects of this invention are as follows: This invention addresses the lack of an effective method on the market for evaluating the ability of medical bipolar electrocoagulation forceps to achieve a large clamping force with a relatively small pinching force. Most existing analytical methods only measure and analyze the pinching force, without analyzing the relationship between the pinching force and the clamping force. This results in an inability to adequately reflect the combined impact of both on the performance of medical bipolar electrocoagulation forceps. This invention proposes that the integral of the ratio curve of the clamping force plus a compensation value to the pinching force within a set range on the pinching force can quantify the performance of the forceps. This enables quantitative analysis of the performance of medical bipolar electrocoagulation forceps, providing guidance for production process control and improving forceps performance.

[0030] This invention overcomes the bottleneck of precise measurement of dynamic clamping force under micro-gap conditions of tweezers tips by using a Z-shaped fixing component; and establishes a dynamic coupling model of two forces. The compensation value c is used to eliminate the initial contact error and truly reflect the force transmission efficiency; a performance index is proposed. This is the first time that the doctor's touch has been quantified into an objective value, guiding production optimization and reducing fatigue among clinical surgeons. Attached Figure Description

[0031] Figure 1 This is a top view schematic diagram of the force measuring device for medical bipolar electrocoagulation forceps used in this invention;

[0032] Figure 2 This is a front view of the Z-type fastener used in this invention;

[0033] Figure 3 This is a schematic diagram of the installation of the Z-shaped fastener and pressure sensor used in this invention;

[0034] Figure 4 This is a pressure-time relationship curve plotted based on kneading force and clamping force in the method described in this invention;

[0035] Figure 5 According to Figure 4 The curve shown is a schematic diagram of the selected work area.

[0036] Figure 6 According to Figure 5 The selected work interval yields an F1-k curve with F1 as the horizontal axis and k as the vertical axis.

[0037] The diagram is labeled as follows: 1. Medical bipolar electrocoagulation forceps; 101. Forceps tip; 102. Forceps tail; 103. Forceps pinching point; 2. Clamping device; 3. Fixing platform; 4. Z-shaped fixing component; 401. Fixing surface; 402. Connecting hole; 403. Force-bearing surface; 4-1. Left Z-shaped fixing component; 4-2. Right Z-shaped fixing component; 5. Left push-pull mechanism; 6. Right push-pull mechanism; 7. First pressure sensor; 8. X-axis horizontal motion drive mechanism; 9. Y-axis horizontal motion drive mechanism; 10. Z-axis vertical motion drive mechanism; 11. Second pressure sensor; 12. Fixing screw. Detailed Implementation

[0038] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments, but this should not be construed as limiting the invention in any way.

[0039] A method for quantitatively evaluating the performance of medical bipolar electrocoagulation forceps includes the following steps:

[0040] S1, place the two arms of the medical bipolar electrocoagulation forceps 1 horizontally on the fixed platform 3, and ensure that the two arms are at the same height. Fix the tail 102 of the medical bipolar electrocoagulation forceps 1 by the clamping device 2 on the fixed platform 3, so that the medical bipolar electrocoagulation forceps 1 is in a stable fixed state.

[0041] S2, Assemble the clamping force measurement component: including a second pressure sensor 11 and two Z-shaped fixing parts 4. The Z-shaped fixing parts 4 are sheet-like structures bent from a material with a high elastic modulus and an elastic modulus > 400 GPa. One end of the Z-shaped fixing part 4 is a fixing surface 401, and the fixing surface 401 is provided with a connecting hole 402 for fixing the second pressure sensor 11. The other end of the Z-shaped fixing part 4 is a force-bearing surface 403. Since the second pressure sensor 11 has a certain thickness, and the gap between the two arms of the medical bipolar electrocoagulation forceps 1 at the forceps tip 101 is small, the second pressure sensor 11 cannot be directly placed into the gap of the forceps tip 101, or it needs to occupy a large space in the gap of the forceps tip 101. This will cause the measurement to fail to simulate the process of the forceps clamping a small object during normal operation. Therefore, the left Z-shaped fixing member 4-1 and the right Z-shaped fixing member 4-2 are mirror images of each other and are connected to the left and right sides of the second pressure sensor 11 by fixing screws 12 so that the fixing surfaces 401 are attached to each other, forming a clamping force measuring assembly. In the clamping force measuring assembly, the distance δ between the force-bearing surfaces 403 of the left Z-shaped fixing member 4-1 and the right Z-shaped fixing member 4-2 will be significantly smaller than the thickness δ0 of the second pressure sensor 11, forming a clamping force measuring end. Then, the clamping force measuring end of the clamping force measuring assembly is placed in the gap of the tweezer tip 101, thereby realizing the function of measuring the pressure of small-pitch tweezer tips.

[0042] In this embodiment, the thickness δ0 of the second pressure sensor 11 is 9 mm, while the gap δ1 of the forceps tip 101 of the medical bipolar electrocoagulation forceps 1 is 12 mm. The thickness of the second pressure sensor 11 occupies a large space in the gap of the forceps tip 101. After connecting two Z-shaped fixing members 4 to both sides of the second pressure sensor 11, the distance δ between the force-bearing surfaces 403 of the two Z-shaped fixing members 4 is 3 mm, which can be easily placed into the gap of the forceps tip 101 without occupying too much space inside the forceps tip 101.

[0043] S3, measuring the pinching force F1 and clamping force F2: Align the ends of the left push-pull mechanism 5 and the right push-pull mechanism 6 on the fixed platform 3 with the left and right sides of the tweezers pinching point 103, respectively, and install the first pressure sensor 7 on the right push-pull mechanism 6. The reciprocating motion of the left and right push-pull mechanisms simulates the pinching process of a person on the medical bipolar electrocoagulation forceps 1, thereby measuring the pinching force F1 during the pinching process; at the same time, the tweezers tip 101 closes and acts on the two force-bearing surfaces 403 of the two Z-shaped fixing parts 4, and transmits it to the second pressure sensor 11, synchronously measuring the clamping force F2 during the meshing process;

[0044] S4, Plot the pressure-time curve: Based on the kneading force and clamping force measured at various time points during the kneading process, plot two curves with time on the horizontal axis and pressure on the vertical axis, such as... Figure 4 As shown;

[0045] S5, Obtain the tweezers performance index, including the following steps:

[0046] S51, such as Figure 4 , 5 As shown, in one kneading cycle, the curve is a convex shape that first rises and then falls. By analyzing the rising phase of the kneading force curve, the intersection point Q (e.g., when the kneading force curve is fitted to two straight lines) can be found. Figure 5 (As shown); the intersection point is caused by a sudden change in the slope of the two straight lines. This sudden change is caused by the reaction force when the tip 101 of the medical bipolar electrocoagulation forceps 1 begins to touch the Z-shaped fixing piece 4 on the second pressure sensor 11 during the closing process. The pressure value corresponding to the intersection point Q is recorded as the compensation value c. Figure 5 In this case, the compensation value c = 2.8126;

[0047] S52, the working range is selected between the intersection point Q and the maximum value of the kneading force curve during its rising phase, i.e. Figure 5 The green area in the diagram represents the working interval, indicating that the subsequent calculations and analyses will use the values ​​of kneading force and clamping force within this interval.

[0048] Establish a dynamic coupling model of two forces , ;k represents the mechanical performance coefficient of the medical bipolar electrocoagulation forceps, where F1 is the pinching force of the medical bipolar electrocoagulation forceps, F2 is the clamping force of the medical bipolar electrocoagulation forceps, and c is the compensation value; then calculate all within this working range value;

[0049] S53, because different medical bipolar electrocoagulation forceps need to be compared under the same conditions, therefore, the definition is... The valid interval [k1, k2] is used as the comparison interval. The selection of k1 and k2 depends on the actual situation, and 0 < k1 < k2 < 1. A plot is drawn with F1 as the x-axis. The F1-k curve is plotted with the value as the vertical axis, and perpendicular lines are drawn from points k1 and k2 on the F1-k curve to the horizontal axis. These two perpendicular lines serve as two horizontal boundary lines.

[0050] In this embodiment, as Figure 6 As shown, k1 and k2 are 0.45 and 0.65 respectively, therefore the effective interval [k1, k2] is [0.45, 0.65], and the plotted F1-k curve is... Figure 6 The green curve in the image;

[0051] S54. If the F1-k curve can cross the interval [k1, k2], it means that the working interval selected in step S52 is a valid interval; otherwise, the selected working interval is invalid, and a new working interval is selected. If the selected working interval is valid, the F1 value corresponding to the two horizontal boundary lines is the left and right boundary value.

[0052] In this embodiment, as Figure 6 As shown, the intersection points of the two horizontal boundary lines on the F1-k curve are 0.45 and 0.65, respectively. The F1-k curve can span the interval [0.45, 0.65], indicating that... Figure 5 The selected working interval is valid; therefore, the F1 values ​​corresponding to the two intersection points of the two horizontal boundary lines on the F1-k curve are 8.21 and 4.82, respectively. Figure 6 Middle work area ( Figure 6 The left and right boundary values ​​of the green area;

[0053] S55 defines the performance index of medical bipolar electrocautery forceps. , which means The value is in the interval [a, b]. The integral value in the direction indicates that the medical bipolar electrocoagulation forceps can hold objects more effortlessly and better.

[0054] According to calculations, in this embodiment, The integral value is 1.7652, that is Figure 6 The area of ​​the green region represents the performance index of the medical bipolar electrocoagulation forceps.

[0055] In this invention, both the left push-pull mechanism 5 and the right push-pull mechanism 6 are electric push rod devices. During the pinching process of the medical bipolar electrocautery forceps 1, it is necessary to ensure that the directions of the forces exerted by the left push-pull mechanism 5 and the right push-pull mechanism 6 on the medical bipolar electrocautery forceps 1 are at the same horizontal level. Therefore, in this embodiment, as... Figure 1 As shown, the right push-pull mechanism 6 is mounted on the X-axis horizontal motion drive mechanism to enable the right push-pull mechanism 6 to move horizontally along the X-axis, so that the telescopic end of the right push-pull mechanism 6 contacts the right arm of the medical bipolar electrocoagulation forceps 1, and the first pressure sensor 7 is mounted on the telescopic end of the right push-pull mechanism 6; the left push-pull mechanism 5 is mounted on the Z-axis vertical motion drive mechanism, which is fixed on the Y-axis horizontal motion drive mechanism. Through the cooperation of the Y-axis horizontal motion drive mechanism and the Z-axis vertical motion drive mechanism, the left push-pull mechanism 5 can move horizontally along the Y-axis and vertically along the Z-axis, thereby adjusting the position of the telescopic end of the left push-pull mechanism 5 in space, so that it is on the same horizontal line as the telescopic end of the right push-pull mechanism 6 and contacts the left arm of the medical bipolar electrocoagulation forceps 1. The X-axis horizontal motion drive mechanism, the Y-axis horizontal motion drive mechanism, and the Z-axis vertical motion drive mechanism are all screw drive mechanisms, and the rotation of the screw is controlled by a hand crank, or a motor can be used to control the rotation of the screw. The positions of the left push-pull mechanism 5 and the right push-pull mechanism 6 need to be adjusted before the test begins.

[0056] The X and Y directions are two perpendicular directions on the horizontal plane, where the X direction is perpendicular to the center line of the horizontally placed medical bipolar electrocoagulation forceps 1, and the Y direction is perpendicular to the center line of the horizontally placed medical bipolar electrocoagulation forceps 1. The Z direction is a vertical direction perpendicular to the X and Y directions.

[0057] In other embodiments, the left push-pull mechanism 5 is mounted on the X-axis horizontal motion drive mechanism, and the right push-pull mechanism 6 is mounted on the Z-axis vertical motion drive mechanism and the Y-axis horizontal motion drive mechanism.

[0058] The X-axis horizontal motion drive mechanism does not affect the setting of the first pressure sensor 7 or the acquisition of the kneading force, regardless of whether it is connected to the left push-pull mechanism 5 or the right push-pull mechanism 6. Therefore, the first pressure sensor 7 can be installed at either the telescopic end of the right push-pull mechanism 6 or the telescopic end of the left push-pull mechanism 5.

[0059] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Those skilled in the art should understand that modifications or equivalent substitutions can be made to the specific implementation of the present invention with reference to the above embodiments. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention are within the protection scope of the pending claims.

Claims

1. A method for quantitatively evaluating the performance of medical bipolar electrocoagulation forceps, characterized in that, Includes the following steps: The first step is to obtain the kneading force and clamping force of the medical bipolar electrocoagulation forceps (1) at various time points during the kneading process, and to obtain the kneading force curve and clamping force curve with time as the horizontal axis and pressure as the vertical axis, wherein the pressure is the kneading force and clamping force. The second step is to obtain the performance index of the medical bipolar electrocoagulation forceps (1). The larger the performance index, the better the performance of the medical bipolar electrocoagulation forceps (1). The method for obtaining the performance index is as follows: (1) For the kneading force curve, find the intersection point Q of the curve after it is fitted into two straight lines in the rising segment of the kneading force curve, record the kneading force corresponding to the point, and define the corresponding kneading force value as the compensation value c. (2) Select the interval between the intersection point Q and the maximum value of the rising segment of the pinching force curve as the working interval for analyzing the pinching force and clamping force; define the mechanical performance coefficient k of the medical bipolar electrocoagulation forceps (1), and , Where F1 is the pinching force of the medical bipolar electrocoagulation forceps (1), F2 is the clamping force of the medical bipolar electrocoagulation forceps (1), and c is the compensation value; then calculate all the values ​​within this working range. value; (3) Plot a graph with F1 as the x-axis. The F1-k curve is plotted with the value as the ordinate, and the definition is... The effective interval [k1, k2] of the value is used as the comparison interval, and 0 < k1 < k2 < 1. Perpendicular lines are drawn from points k1 and k2 on the F1-k curve to the horizontal axis of the curve, and the two perpendicular lines obtained are used as two horizontal boundary lines. (4) If the F1-k curve can cross the interval [k1, k2], it means that the working interval selected in step (2) is a valid interval; otherwise, the selected working interval is invalid, and a new working interval is selected. (5) Define the performance index of medical bipolar electrocoagulation forceps (1) When the selected working interval is valid, the F1 values ​​corresponding to the two horizontal boundary lines are a and b, respectively, forming the integration interval [a, b], which is used to calculate S. k .

2. The method for quantitatively evaluating the performance of medical bipolar electrocoagulation forceps according to claim 1, characterized in that: In the first step of measuring the clamping force, the force-receiving end of the clamping force measuring component is placed in the gap between the tips (101) of the medical bipolar electrocoagulation forceps (1), and the corresponding clamping force F2 is measured during the pinching process of the medical bipolar electrocoagulation forceps (1).

3. The method for quantitatively evaluating the performance of medical bipolar electrocoagulation forceps according to claim 2, characterized in that: The clamping force measuring component includes a second pressure sensor (11) and Z-shaped fasteners (4) fixed on opposite sides of the second pressure sensor (11). The Z-shaped fasteners (4) are bent sheet structures with one end being a fixing surface (401) and the other end being a force-bearing surface (403). The fixing surface (401) is attached to the second pressure sensor (11), and the two force-bearing surfaces (403) of the two Z-shaped fasteners (4) form the force-bearing end of the clamping force measuring component.

4. The method for quantitatively evaluating the performance of medical bipolar electrocoagulation forceps according to claim 3, characterized in that: The Z-shaped fastener (4) is made of a material with an elastic modulus greater than 400 GPa.

5. The method for quantitatively evaluating the performance of medical bipolar electrocoagulation forceps according to claim 1, characterized in that: In the first step of measuring the pinching force, the reciprocating motion of the push-pull mechanism is applied to the pinching point (103) of the medical bipolar electrocoagulation forceps (1) to simulate the pinching process of a person using the medical bipolar electrocoagulation forceps (1), thereby measuring the pinching force F1 during the pinching process.

6. The method for quantitatively evaluating the performance of medical bipolar electrocoagulation forceps according to claim 5, characterized in that: The push-pull mechanism includes a left push-pull mechanism (5), a right push-pull mechanism (6), and a first pressure sensor (7). The left push-pull mechanism (5) and the right push-pull mechanism (6) act on the two arms of the medical bipolar electrocoagulation forceps (1), and the directions of the forces exerted by the left push-pull mechanism (5) and the right push-pull mechanism (6) on the medical bipolar electrocoagulation forceps (1) are on the same horizontal line. The first pressure sensor (7) is installed on the left push-pull mechanism (5) or the right push-pull mechanism (6).

7. The method for quantitatively evaluating the performance of medical bipolar electrocoagulation forceps according to claim 6, characterized in that: Both the left push-pull mechanism (5) and the right push-pull mechanism (6) are electric push rod devices.

8. The method for quantitatively evaluating the performance of medical bipolar electrocoagulation forceps according to claim 6, characterized in that: The right push-pull mechanism (6) is mounted on the X-direction horizontal motion drive mechanism (8) to enable the right push-pull mechanism (6) to move horizontally along the X-direction; the left push-pull mechanism (5) is mounted on the Z-direction vertical motion drive mechanism (10), and the Z-direction vertical motion drive mechanism (10) is fixed on the Y-direction horizontal motion drive mechanism (9). Through the cooperation of the Y-direction horizontal motion drive mechanism (9) and the Z-direction vertical motion drive mechanism (10), the left push-pull mechanism (5) can move horizontally along the Y-direction and vertically along the Z-direction.

9. The method for quantitatively evaluating the performance of medical bipolar electrocoagulation forceps according to claim 6, characterized in that: The left push-pull mechanism (5) is installed on the X-direction horizontal motion drive mechanism (8) to realize the left push-pull mechanism (5) moving horizontally along the X direction; the right push-pull mechanism (6) is installed on the Z-direction vertical motion drive mechanism (10), and the Z-direction vertical motion drive mechanism (10) is fixed on the Y-direction horizontal motion drive mechanism (9). Through the cooperation of the Y-direction horizontal motion drive mechanism (9) and the Z-direction vertical motion drive mechanism (10), the right push-pull mechanism (6) moves horizontally along the Y direction and vertically along the Z direction.

10. The method for quantitatively evaluating the performance of medical bipolar electrocoagulation forceps according to claim 8 or 9, characterized in that: The X-axis horizontal motion drive mechanism (8), the Y-axis horizontal motion drive mechanism (9), and the Z-axis vertical motion drive mechanism (10) are all lead screw drive mechanisms.

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