CN105444929B - A kind of portable unit for being used to measure frictional force between medical instrument and biological tissue - Google Patents
A kind of portable unit for being used to measure frictional force between medical instrument and biological tissue Download PDFInfo
- Publication number
- CN105444929B CN105444929B CN201510995835.XA CN201510995835A CN105444929B CN 105444929 B CN105444929 B CN 105444929B CN 201510995835 A CN201510995835 A CN 201510995835A CN 105444929 B CN105444929 B CN 105444929B
- Authority
- CN
- China
- Prior art keywords
- bearing
- support plate
- belt pulley
- frictional force
- biological tissue
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
Abstract
The invention discloses a kind of for measuring the portable unit of frictional force between medical instrument and biological tissue, wherein：Including transmission device, mobile device, torque measuring device, the mobile device is connect respectively with the transmission device, the torque measuring device；The transmission device includes support plate one（1）, belt pulley one（2）, bearing one（3）, belt pulley two（4）, bearing two（5）, belt（6）, the bearing one（3）, bearing two（5）It is each passed through support plate one（1）, the bearing one（3）One end belt pulley one is installed（2）, the bearing one（3）The other end motor is installed（7）, the bearing two（5）One end belt pulley two is installed（4）, the belt（6）It is wound on the belt pulley one（2）, belt pulley two（4）On.The device not only runs more steady, system running precision height, and noise is small, response is fast, simple in structure, at low cost.
Description
Technical field
The present invention relates to medical instrument surgical procedure field safety, particularly as being a kind of for measuring medical instrument and life
The portable unit of frictional force between object tissue.
Background technology
At present, surgical procedure both domestic and external is very universal, with the development of intelligent robot, operation also having slowly
Manual operation moves towards intelligent, that is, robot manipulation's operation, then problem is just come, and robot manipulation's operation must have
People's sensing capability is capable of the size of accurate perception, can just prevent the generation of malpractice, it is ensured that operation is normally carried out.
Use now for measuring the device of frictional force between medical instrument and biological tissue, the device include bottom plate,
Push rod, pressure sensor, for the first driving part of driving push rod linear motion and for driving push rod rotary motion
Two driving parts；First driving part and second driving part are fixed on the bottom plate, and make described first to drive
Dynamic component clamps the middle part of the push rod, and the bottom of the push rod, which is inserted into second driving part, forms piston structure, institute
State the top that pressure sensor is arranged on the push rod；And first driving part includes the first motor, active friction wheel
With driven friction pulley；Active friction wheel described in the first motor axis connection, the push rod are located at the active friction wheel and institute
Between stating driven friction pulley, and by the peripheral annular surface of the active friction wheel and the peripheral annular table of the driven friction pulley
Face clamps.But this device has following defect：
(1), the device cannot adjust the position of the first driving part and the second driving part, and first and second driving portion
The stationarity of part is poor, and noise is big.
(2), the device is not carried out moving along a straight line, and transmission efficiency measures the precision of frictional force result than relatively low
It is low.
(3), the device low-response, characteristics linearity degree is poor, and the running precision of system is low.
Invention content
The object of the present invention is to provide a kind of for measuring the portable unit of frictional force between medical instrument and biological tissue,
The device not only runs more steady, system running precision height, and noise is small, response is fast, simple in structure, at low cost.
The present invention realizes its goal of the invention, and used technical solution is：
A kind of portable unit for being used to measure frictional force between medical instrument and biological tissue, wherein：Including transmission device,
Mobile device, torque measuring device, the mobile device are connect respectively with the transmission device, the torque measuring device；Institute
It states transmission device and includes support plate one, belt pulley one, bearing one, belt pulley two, bearing two, belt, the bearing one, bearing two
Support plate one is each passed through, one end of the bearing one is equipped with belt pulley one, and the other end of the bearing one is equipped with motor,
One end of the bearing two is equipped with belt pulley two, and the belt is wound on the belt pulley one, on belt pulley two.
In this way, according to the frictional force measured, the distance between torque measuring device and biological tissue can be adjusted, to protect
Accurate perception size is demonstrate,proved, prevents the generation of accident, it is ensured that operation is normally carried out.
Further, in order to make the distance between mobile device and biological tissue that can accurately be controlled, above-mentioned shifting
Dynamic device includes pedestal, baffle, sliding slot, movable stand, screw, bearing three, support plate two, and the sliding slot is located on pedestal, described
One end installation baffle of sliding slot, the other end installation support plate one of sliding slot, the movable stand are mounted on the sliding slot, the axis
It holds three to be mounted on baffle, the screw is parallel to sliding slot, and screw passes through movable stand, and one end and the bearing three of the screw connect
It connects, the other end of screw is mounted on bearing two；The support plate two is mounted on the top of the movable stand, and in the support
Trepanning on plate two.
Further, in order to which frictional force is made to obtain more accurately measuring, above-mentioned torque measuring device includes torque motor, branch
Strut, detection device, the detection device include sensor, connecting rod, test lead, and the both ends of the sensor are respectively with connecting
Bar, test lead connection；The supporting rod passes through the hole in the support plate two, and torque motor is installed in one end of the supporting rod,
The other end of the supporting rod installs the connecting rod, and insulating layer is coated on the test lead；The torque motor, the test
End is respectively in the both sides of the support plate two.
Further, in order to prevent belt slippage, make belt operation more steady, and noise is small, above-mentioned support
Straight slot is provided on plate one, which is located between belt pulley one, belt pulley two, and tensioning wheel, the skin are equipped on the straight slot
Band is wound on tensioning wheel.
Further, in order to increase the stability of belt operation, above-mentioned belt pulley one, belt pulley two are multi-stage, belt
Wheel.
Further, in order to reduce the surge of movable stand and support plate one, the both sides of above-mentioned movable stand are equipped with buffering
Block, support plate one, baffle described in the buffer stopper difference face.
Further, it moves along a straight line to realize, so as to which supporting rod be driven to move along a straight line, above-mentioned screw and movable stand
It is connected by thread fitting.
Further, in order to transform length as needed, it is ensured that the size of power is accurately measured, above-mentioned connecting rod
One end is equipped with external screw thread, and one end of the supporting rod is equipped with internal thread, screw thread is used between the connecting rod and the supporting rod
Connection.
Further, in order to install facility, one end of the supporting rod of above-mentioned installation torque motor is equipped with external screw thread, the branch
Screw thread is equipped in the hole opened on fagging two, uses and is threadedly coupled between the supporting rod and support plate two.
Compared with prior art, the beneficial effects of the invention are as follows：
(1) of the invention two drivings (motor and torque motor), can run together, also being capable of independent operating, i.e., two
The movement of person is mutual indepedent, is mutually independent of each other.
(2), position of the invention can adjust, and tensioning wheel can prevent belt slippage, make belt operation more steady,
And noise is small.
(3), movable stand of the invention and screw are realized by thread fitting moves along a straight line, and screw is with movable stand with ball
The mode of rolling realizes rolling friction, transmission efficiency higher, and has higher precision.
(4), rotary motion of the present invention uses torque motor (torque motor), and torque motor has the slow-speed of revolution, response soon
With characteristics linearity degree it is good the characteristics of, load can be directly driven, save under drive gear, improve the running precision of system.
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the embodiment of the present invention.
Fig. 2 is the schematic cross-sectional view of Fig. 1 main views.
Fig. 3 is the cross-sectional view of detection device in Fig. 1.
Fig. 4 is the cross-sectional view of supporting rod part in Fig. 1.
The schematic diagram that Fig. 5 is the stereochemical structure of the embodiment of the present invention and circuit is connect.
Specific embodiment
Embodiment
Fig. 1,2 show that a kind of specific embodiment of this example is：
A kind of portable unit for being used to measure frictional force between medical instrument and biological tissue, wherein：Including transmission device,
Mobile device, torque measuring device, mobile device are connect respectively with the transmission device, the torque measuring device.
The transmission device of this example includes support plate 1, belt pulley 1, bearing 1, belt pulley 24, bearing 25, belt
6, the bearing 1, bearing 25 are each passed through support plate 1, and one end of the bearing 1 is equipped with belt pulley 1, described
The other end of bearing 1 is equipped with motor 7, and one end of the bearing 25 is equipped with belt pulley 24, and the belt 6 is wound on described
On belt pulley 1, belt pulley 24.
And belt pulley 1, belt pulley 24 are multi-stage, belt wheel, the diameter of belt pulley 1 is than the diameter of belt pulley 24
Greatly.
In addition, being provided with straight slot 1a in support plate 1, straight slot 1a is located between belt pulley 1, belt pulley 24, described logical
Tensioning wheel 20 is installed, the belt 6 is wound on tensioning wheel 20 on slot 1a.
The mobile device of this example includes pedestal 8, baffle 9, sliding slot 10, movable stand 11, screw 12, bearing 3 13, support plate
2 14, the sliding slot 10 is located on pedestal 8, one end installation baffle 9 of sliding slot 10, the other end installation support plate 1 of sliding slot 10；
The movable stand 11 is mounted on the sliding slot 10, and the bearing 3 13 is mounted on baffle 9, and the screw 12 is parallel to sliding slot
10, and screw 12 passes through movable stand 11, one end of the screw 12 is connect with bearing 3 13, and the other end of screw 12 is mounted on axis
It holds on 25；The support plate 2 14 is mounted on the top of the movable stand 11, and the trepanning in the support plate 2 14.
Moreover, the both sides of movable stand 11 are equipped with buffer stopper 11a, support plate 1 described in the buffer stopper 11a difference face,
Baffle 9, screw 12 are ball-screw.
Fig. 3, Fig. 4 show that the torque measuring device of this example includes torque motor 15, supporting rod 16, detection device, the inspection
Survey device and include sensor 17, connecting rod 18, test lead 19, the both ends of the sensor respectively with connecting rod 18, test lead 19
Connection；The supporting rod 16 passes through the hole in the support plate 2 14, one end installation torque motor 15 of the supporting rod 16, institute
The other end for stating supporting rod 16 installs the connecting rod 18, and insulating layer 19a is coated on the test lead 19；The torque motor
15th, the test lead 19 is respectively in the both sides of the support plate 2 14.
Moreover, one end of the connecting rod 18 of this example is equipped with external screw thread 18a, one end of the supporting rod 16 is equipped with internal thread
16a is used between the connecting rod 18 and the supporting rod 16 and is threadedly coupled.Screw 12 is connected with movable stand 11 by thread fitting
It connects.The one end for installing the supporting rod 16 of torque motor 15 is equipped with external screw thread 16b, and spiral shell is equipped in the hole opened in the support plate 2 14
Line is used between the supporting rod 16 and support plate 2 14 and is threadedly coupled.
Fig. 5 shows that the motor 7 of this example is also connect with controller 1, and torque motor 15 is connect with controller 2 22, sensing
Device 17 is connect with controller 2 22, and controller 1, controller 2 22 are connect again with computer 23 respectively.
The operation principle and process of this example be:
We adjust input parameter in real time by man-machine interface, and program is inputted in computer 23 and realizes controller two
The rotation control of 22 pairs of torque motors 15, the straight line control of one 21 pairs of motors 7 of controller, this is a closed-loop control；Controller
One 21, controller 2 22 voluntarily can be monitored and adjust to parameter, until torque motor 15, motor 7 are preset according to us
Parameter is run.
By belt pulley 1, tensioning wheel 20 and belt pulley 24, most power passes on ball-screw motor 7 at last, that is, passes
Onto screw 12, so as to which ball-screw realizes rotary motion, and then drive leading screw 12 on the movable stand 11 that is connected through a screw thread
It moves along a straight line.The linear motion of movable stand 11 drives supporting rod 16 to move, so as to the detection dress that supporting rod 16 is driven to connect
It puts so that 2 22 pairs of detection devices of controller are rotated and the control of rotation angle.Moreover, controller 2 22 and control
The signal that sensor 17 senses can be finally reflected PC by one 21 included acquisition system of device by the acquisition system that controller carries
End (computer) is shown with the signal of voltage.Then the conversion of voltage and power is realized by the intrinsic calibration of sensor 17,
So as to successfully simulate in surgical procedure, certain speed, the measurement of power between the surgical instrument of certain angle and biological tissue.
Bearing one, bearing two, the bearing three of the present invention, what is used is rolling bearing, and rolling bearing has transmission accuracy
Height, it is efficient the characteristics of；Used sensor 17 is resistance sensor；Test lead 19 is partly led using high-resolution
Body strain piece is as force sensing element.
Above-described embodiment is the preferable embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, it is other any without departing from the change made under the principle of the present invention, modification, replacement, combination, simplification, it should be equivalent
Substitute mode, be included within protection scope of the present invention.
Claims (7)
1. a kind of portable unit for being used to measure frictional force between medical instrument and biological tissue, it is characterised in that：Including transmission
Device, mobile device, torque measuring device, the mobile device connect respectively with the transmission device, the torque measuring device
It connects；The transmission device includes support plate one (1), belt pulley one (2), bearing one (3), belt pulley two (4), bearing two (5), skin
Band (6), the bearing one (3), bearing two (5) are each passed through support plate one (1), and one end of the bearing one (3) is equipped with skin
Belt wheel one (2), the other end of the bearing one (3) are equipped with motor (7), and one end of the bearing two (5) is equipped with belt pulley
Two (4), the belt (6) are wound on the belt pulley one (2), on belt pulley two (4)；
The mobile device include pedestal (8), baffle (9), sliding slot (10), movable stand (11), screw (12), bearing three (13),
Support plate two (14), the sliding slot (10) are located on pedestal (8), one end installation baffle (9) of the sliding slot (10), sliding slot (10)
Other end installation support plate one (1), the movable stand (11) is on the sliding slot (10), the bearing three (13) installation
On baffle (9), the screw (12) is parallel to sliding slot (10), and screw (12) is across movable stand (11), the screw (12)
One end connect with bearing three (13), the other end of screw (12) is mounted on bearing two (5)；Support plate two (14) installation
At the top of the movable stand (11), and the trepanning on the support plate two (14)；
The torque measuring device includes torque motor (15), supporting rod (16), detection device, and the detection device includes sensing
Device (17), connecting rod (18), test lead (19), the both ends of the sensor are connect respectively with connecting rod (18), test lead (19)；
The supporting rod (16) installs torque motor across the hole on the support plate two (14), one end of the supporting rod (16)
(15), the other end of the supporting rod (16) installs the connecting rod (18), and insulating layer is coated on the test lead (19)
(19a)；The torque motor (15), the test lead (19) are respectively in the both sides of the support plate two (14)；
It is described to further include controller one (21), control for measuring the portable unit of frictional force between medical instrument and biological tissue
Device two (22) and computer (23), the motor (7) connect with the controller one (21), the torque motor (15) and described
Sensor (17) is connect respectively with the controller two (22), the controller one (21) and the controller two (22) respectively with
Computer (23) connection.
2. it is according to claim 1 a kind of for measuring the portable unit of frictional force between medical instrument and biological tissue,
It is characterized in that：Straight slot (1a) is provided on the support plate one (1), which is located at belt pulley one (2), belt pulley two
(4) between, tensioning wheel (20) is installed on the straight slot (1a), the belt (6) is wound on tensioning wheel (20).
3. it is according to claim 2 a kind of for measuring the portable unit of frictional force between medical instrument and biological tissue,
It is characterized in that：The belt pulley one (2), belt pulley two (4) are multi-stage, belt wheel.
4. it is according to claim 3 a kind of for measuring the portable unit of frictional force between medical instrument and biological tissue,
It is characterized in that：The both sides of the movable stand (11) are equipped with buffer stopper (11a), branch described in buffer stopper (11a) the difference face
Fagging one (1), baffle (9).
5. it is according to claim 4 a kind of for measuring the portable unit of frictional force between medical instrument and biological tissue,
It is characterized in that：The screw (12) is connect with movable stand (11) by thread fitting.
6. it is according to claim 5 a kind of for measuring the portable unit of frictional force between medical instrument and biological tissue,
It is characterized in that：One end of the connecting rod (18) is equipped with external screw thread (18a), and one end of the supporting rod (16) is equipped with internal thread
(16a) is used between the connecting rod (18) and the supporting rod (16) and is threadedly coupled.
7. it is according to claim 6 a kind of for measuring the portable unit of frictional force between medical instrument and biological tissue,
It is characterized in that：One end of the supporting rod (16) of the installation torque motor (15) is equipped with external screw thread (16b), the support plate two
(14) screw thread is equipped in the hole opened on, uses and is threadedly coupled between the supporting rod (16) and support plate two (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510995835.XA CN105444929B (en) | 2015-12-24 | 2015-12-24 | A kind of portable unit for being used to measure frictional force between medical instrument and biological tissue |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510995835.XA CN105444929B (en) | 2015-12-24 | 2015-12-24 | A kind of portable unit for being used to measure frictional force between medical instrument and biological tissue |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105444929A CN105444929A (en) | 2016-03-30 |
| CN105444929B true CN105444929B (en) | 2018-06-26 |
Family
ID=55555391
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510995835.XA Expired - Fee Related CN105444929B (en) | 2015-12-24 | 2015-12-24 | A kind of portable unit for being used to measure frictional force between medical instrument and biological tissue |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105444929B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107228722B (en) * | 2017-05-03 | 2019-06-18 | 太原理工大学 | A kind of test device and method of biologic soft tissue material force of sliding friction |
| CN109959505B (en) * | 2019-04-10 | 2021-04-13 | 浙江科惠医疗器械股份有限公司 | Life test device and life test system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201218763Y (en) * | 2008-05-16 | 2009-04-08 | 比亚迪股份有限公司 | Push-pull force testing device |
| CN202128769U (en) * | 2011-05-17 | 2012-02-01 | 杭州正源电子有限公司 | Injection machine transmission device |
| CN203416099U (en) * | 2013-09-02 | 2014-01-29 | 深圳市鸿栢科技实业有限公司 | Power transmission device |
| CN204813919U (en) * | 2015-08-17 | 2015-12-02 | 西南交通大学 | A device for at biological tissue surface measurement effort |
| CN205280253U (en) * | 2015-12-24 | 2016-06-01 | 西南交通大学 | A portable equipment for measuring frictional force between medical instrument and biological tissue |
-
2015
- 2015-12-24 CN CN201510995835.XA patent/CN105444929B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201218763Y (en) * | 2008-05-16 | 2009-04-08 | 比亚迪股份有限公司 | Push-pull force testing device |
| CN202128769U (en) * | 2011-05-17 | 2012-02-01 | 杭州正源电子有限公司 | Injection machine transmission device |
| CN203416099U (en) * | 2013-09-02 | 2014-01-29 | 深圳市鸿栢科技实业有限公司 | Power transmission device |
| CN204813919U (en) * | 2015-08-17 | 2015-12-02 | 西南交通大学 | A device for at biological tissue surface measurement effort |
| CN205280253U (en) * | 2015-12-24 | 2016-06-01 | 西南交通大学 | A portable equipment for measuring frictional force between medical instrument and biological tissue |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105444929A (en) | 2016-03-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105699078B (en) | A kind of multifunctional universal of adjustable angle is coupler test-bed | |
| CN103543010B (en) | A kind of high-speed guide screw and lead screw pair Integrated Checkout testing table | |
| CN103822837B (en) | A kind of frictional testing machine | |
| CN201060144Y (en) | Rolling friction abrasion machine | |
| CN102914442B (en) | One-way pressure dynamic loading device | |
| CN110346137B (en) | Automatic continuous dynamic loading method for testing bearing characteristics of air-float ball bearing | |
| CN106768912A (en) | A kind of static submissive system safety testing device of industrial robot and method | |
| CN201909614U (en) | Rotating platform structure for automatic optical measuring instruments | |
| CN207215585U (en) | A kind of device for detecting mechanical property | |
| CN105444929B (en) | A kind of portable unit for being used to measure frictional force between medical instrument and biological tissue | |
| CN108956137A (en) | A kind of harmonic wave speed reducing machine performance detection mechanism | |
| CN207147765U (en) | A kind of joint test platform and joint test system | |
| CN102980724B (en) | Dynamic balancer for revolved body | |
| CN203881634U (en) | Friction testing machine | |
| CN106042001B (en) | Robot end's spatial position measuring device | |
| CN100515324C (en) | Dynamic pedal device of human body balance function testing system | |
| CN203606053U (en) | A test apparatus for friction torques under bearing actual working conditions | |
| CN205280253U (en) | A portable equipment for measuring frictional force between medical instrument and biological tissue | |
| CN205620124U (en) | Multi -functional universal joint test bench of angularly adjustable | |
| CN105973130B (en) | Interlayer displacement angle measuring device | |
| CN111811445A (en) | Lead screw detection equipment | |
| CN112629837B (en) | Device and method for testing damping coefficient of rotary damper | |
| CN205940975U (en) | Robot joint reduction gear transmission capability test device with remove slip table | |
| CN103528529A (en) | Detection device of stroke deviation and stroke variation of nut-driven ball screw pair | |
| CN201147303Y (en) | Dynamic pedal device of human body balance function testing system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180626 Termination date: 20181224 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |