CN105758705B - A kind of biologic soft tissue Mechanics Performance Testing device - Google Patents
A kind of biologic soft tissue Mechanics Performance Testing device Download PDFInfo
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- CN105758705B CN105758705B CN201610117830.1A CN201610117830A CN105758705B CN 105758705 B CN105758705 B CN 105758705B CN 201610117830 A CN201610117830 A CN 201610117830A CN 105758705 B CN105758705 B CN 105758705B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
Abstract
A kind of biologic soft tissue Mechanics Performance Testing device, it is related to a kind of Mechanics Performance Testing device, and in particular to a kind of biologic soft tissue Mechanics Performance Testing device.The present invention is in order to solve the problems, such as that existing biologic soft tissue Mechanics Performance Testing device can not obtain mechanical property parameters of the biologic soft tissue under operating theater instruments during clinical operation.The present invention includes mechanical arm, first module, second module, 3rd module, first guide assembly, second guide assembly, casing, big frame, fixture and multiple fot screws, casing is by upper lid, foreboard, back plate, left plate, right plate and bottom plate composition, left plate is vertically installed at the left side of plate upper surface, right plate is vertically installed at the right side of plate upper surface, left plate, right plate, bottom plate forms base assembly, foreboard is vertically installed at the front end of lid lower surface, back plate is vertically installed at the rear end of lid lower surface, upper lid, foreboard, back plate forms cover assembly, the cover assembly spiral-lock forms casing on the base assembly.The invention belongs to medical instruments field.
Description
Technical field
The present invention relates to a kind of Mechanics Performance Testing device, and in particular to a kind of biologic soft tissue Mechanics Performance Testing dress
Put, belong to medical instruments field.
Background technology
Micro-wound surgical operation receives significant attention because of the damage caused by can greatly reducing in surgical procedure, in recent years
Achieve important development.At present, existing many surgical procedures use minimal invasive operation technology.But minimally invasive surgery hand
Art process needs to carry out some complicated operations tissue is dissected, cut off and repaired, using Minimally Invasive Surgery method
Diagnosed.These require that doctor carries out detailed understanding to the response characteristic organized when instrument and tissue interaction.And
The deficiency of feedback information is a crucial restraining factors of Minimally Invasive Surgery development between instrument and tissue.Therefore establish one it is complete
Whole biologic soft tissue mechanical property testing system is most important.
Existing biologic soft tissue mechanic property test method has impression detection, ultrasound examination.Wherein examined using impression
Measurement equipment is that the change of length and tension force occurs by stretching soft tissue, and this method measures the displacement of epidermis and the position of impression
Move, without measuring the thickness of tissue, while also influenceed by some geometrical factors, influence the true of Mechanical Properties of Soft Tissues
Property.Ultrasound examination into sensor-based system, measures the pressure and shape of biologic soft tissue using ultrasonic wave and pressure 6 DOF sensor group
Becoming information, by soft tissue biomechanical model and measured signal, extract the characterisitic parameter of soft tissue, this method precision is higher,
But application prospect is more single.In recent years, the research that researcher punctures to robot assisted is than wide, Chinese patent
A kind of flexibility is proposed in CN102018575A " robot assisted flexibility pin puncture soft tissue real-time control system and method "
The control method and equipment of pin, regard pin puncture process as quasistatic process, any pin section be considered as cantilever beam, each pin section with to
Amount describes and is considered as a cantilever beam；According to cantilever beam theory, its amount of deflection and sectional twisting angle are calculated；It is real using alternative manner
When calculate needle body and tip position.But flexible needle model is confined to two-dimentional puncture, needle point stress and needle point position in the patent
Put and error be present using the model data of model prediction.More single can only measure of the motion of needle point simultaneously punctures and can not obtained in real time
Obtain more models.Harbin Institute of Technology carries out puncture experiment using Needle-driven Robot to pig liver, by puncture force
The extraction of data, establishes model, obtains the mechanics parameters of soft tissue, but it only has piercing process, does not transfer to tissue
Analysis, the software function of design are single.In view of above two method measurement unicity and clinical operation process can not be obtained
Middle biologic soft tissue operating theater instruments effect under mechanical property parameters the shortcomings that, it is proposed that a kind of biology with six degree of freedom
Soft tissue mechanics performance testing device, the biology under a variety of operation techniques such as suture, puncture, lifting, pressing, cutting can be measured
The mechanical property of soft tissue, to optimize operation plan, transform operating theater instruments, and improve surgery simulation system provide it is theoretical according to
According to.
The content of the invention
The present invention is to solve existing biologic soft tissue Mechanics Performance Testing device not obtaining biology during clinical operation
The problem of mechanical property parameters of the soft tissue under operating theater instruments, and then propose a kind of biologic soft tissue Mechanics Performance Testing dress
Put.
The present invention adopts the technical scheme that to solve the above problems：The present invention includes mechanical arm, the first module, the second mould
Group, the 3rd module, the first guide assembly, the second guide assembly, casing, big frame, fixture and multiple fot screws, casing is by upper
Lid, foreboard, back plate, left plate, right plate and bottom plate composition, left plate are vertically installed at the left side of plate upper surface, right plate
The right side of plate upper surface, left plate, right plate, bottom plate composition base assembly are vertically installed at, foreboard is vertically installed at lid
The front end of lower surface, back plate are vertically installed at the rear end of lid lower surface, upper lid, foreboard, back plate composition cover assembly, it is described on
Cap assemblies spiral-lock forms casing on the base assembly；Big frame is made up of slide unit, crossbeam, the first side rib and the second side rib, horizontal
From top to bottom side by side parallel is set for beam and slide unit, and the both ends of crossbeam by passing through the first side rib, the second side rib and slide unit respectively
Both ends connect；Slide unit is arranged between the lower surface of lid and the upper surface of bottom plate, and slide unit passes through the first guide rail for be arrangeding in parallel
Component, the second guide assembly, the upper surface of the first module and bottom plate connect, and the first guide assembly and the second guide assembly are along long
Spend the centerline parallel of the center line with slide unit in the width direction in direction, the first module is arranged on the upper surface of bottom plate, and the
One module is between the first guide assembly and the second guide assembly, and the second module is arranged on crossbeam, and the 3rd module is by adding
Strong rib is arranged on the second module, and mechanical arm is arranged on the 3rd module, and fixture is arranged on the orifice plate of upper cap upper surface, multiple
Fot screw is uniformly arranged in the lower surface of bottom plate.
Further, mechanical arm includes the first connecting plate, the first rotary joint, the second rotary joint and the 3rd rotary joint
Joint, the 3rd rotary joint are arranged on the 3rd module by the first connecting plate, the second rotary joint and the 3rd rotary joint phase
Even, the first rotary joint is connected with the second rotary joint；First rotary joint include the first stepper motor, clutch shaft bearing end cap,
First angular contact ball bearing, the second angular contact ball bearing, first bearing seat, the first plate, the second plate, the 3rd plate, the first main shaft six
Dimension sensor, sensor flange, quick chuck and operating theater instruments, the first stepper motor are connected by the first plate with the first main shaft,
Sextuple sensor is arranged on the first main shaft, and operating theater instruments is connected by quick chuck and sensor flange with sextuple sensor,
Clutch shaft bearing end cap, the first angular contact ball bearing, the second angular contact ball bearing, first bearing seat are arranged on the 3rd plate, and first
Plate, the 3rd plate are arranged on the both sides of the second plate；Second rotary joint is identical with the first rotary joint mounting means；3rd rotation is closed
Section includes the second stepper motor, stepper motor flange, the second connecting plate, second bearing seat, the third angle contact ball bearing, fourth angle
Contact ball bearing, second bearing end cap and the second main shaft, the second stepper motor are arranged on stepper motor flange, stepper motor method
Orchid is arranged on the second plate of connection, and the second connecting plate is arranged on the lower surface of the first connecting plate, and second bearing seat, the third angle connect
Ball bearing, fourth angle contact ball bearing, second bearing end cap is touched to be arranged on the second connecting plate.
Further, the first module, the second module, the 3rd modular structure are identical, and the first module, the second module, the 3rd
Module include module motor, module protection cap, module slide unit, module sliding block, module motor flange, module leading screw, shaft coupling,
First limit switch, origin switch and the second limit switch, module sliding block are arranged on module leading screw, and module slide unit is arranged on mould
On group sliding block, module protection cap is arranged on module upper surface, and module motor is connected by module motor flange with module leading screw.
Further, the first guide assembly and the second guide assembly structure are identical, and the first guide assembly and the second guide rail
Component includes guide rail slide block and guide rail, and guide rail slide block is arranged on guide rail, the lower surface connection of guide rail slide block and slide unit, guide rail
It is connected with plate upper surface.
Further, fixture includes plate, the first clamp bar and the second clamp bar, and plate is evenly distributed in the upper surface provided with multiple screwed holes,
First clamp bar and the second clamp bar are connected by bolt with the screwed hole of plate upper surface.
Further, each fot screw includes screw, support foot pad and two hex nuts, two hex nut suits
On screw, the lower end of screw is provided with support foot pad.
The beneficial effects of the invention are as follows：1. the present apparatus installs six-dimensional force/torque sensor, wherein power most on the first joint
Small to be accurate to 1/512N, torque can be accurate to 1/20Nmm, can accurately gather power between operating theater instruments and soft tissue and
Torque.
2. the positioning of three modules of the present apparatus reappears behavior ± 0.003mm, positioning precision 0.02, the walking depth of parallelism is
0.01, so all enough errors reduced in experiment, so as to get power model it is more accurate.
3. the present apparatus can arbitrarily change the posture of operating theater instruments, can realize five kinds of operations by three rotary joints
Operation-pressing, lifting, puncture, cutting and suture.
It 4. the present apparatus is simple to operate, can be programmed by VC++, realize the special exercise of operating theater instruments.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention, and Fig. 2 is the structural representation of casing, and Fig. 3 is the structural representation of big frame
Figure, Fig. 4 is the structural representation of mechanical arm, and Fig. 5 is the dimensional structure diagram of mechanical arm, and Fig. 6 is the structural representation of module,
Fig. 7 is the structural representation of guide rail, and Fig. 8 is the structural representation of fixture, and Fig. 9 is fot screw structural representation.
Embodiment
Embodiment one：Illustrate present embodiment, a kind of soft group of biology described in present embodiment with reference to Fig. 1 to Fig. 3
Knitting Mechanics Performance Testing device includes mechanical arm 1, the first module 2, the second module 3, the 3rd module 4, the first guide assembly 5, the
Two guide assemblies 6, casing 7, big frame 8, fixture 9 and multiple fot screws 10, casing 7 by upper lid 7-1, foreboard 7-2, back plate 7-3,
Left plate 7-4, right plate 7-5 and bottom plate 7-6 compositions, left plate 7-4 are vertically installed at the left side of bottom plate 7-6 upper surfaces, right side
Plate 7-5 is vertically installed at the right side of bottom plate 7-6 upper surfaces, and left plate 7-4, right plate 7-5, bottom plate 7-6 composition base assemblies are preceding
Plate 7-2 is vertically installed at the front end of lid 7-1 lower surfaces, and back plate 7-3 is vertically installed at the rear end of lid 7-1 lower surfaces, upper lid
7-1, foreboard 7-2, back plate 7-3 composition cover assemblies, the cover assembly spiral-lock form casing 7 on the base assembly；Greatly
Frame 8 is made up of slide unit 8-1, crossbeam 8-2, the first side rib 8-3 and the second side rib 8-4, and crossbeam 8-2 and slide unit 8-1 are from top to bottom simultaneously
Row is be arranged in parallel, and crossbeam 8-2 both ends by the first side rib 8-3, the second side rib 8-4 and slide unit 8-1 both ends by being connected respectively
Connect；Slide unit 8-1 is arranged between lid 7-1 lower surface and bottom plate 7-6 upper surface, slide unit 8-1 by be arranged in parallel the
One guide assembly 5, the second guide assembly 6, the first module 2 are connected with bottom plate 7-6 upper surface, and the first guide assembly 5 and
Centerline parallel of the center line with slide unit 8-1 in the width direction of two guide assemblies 6 along its length, the first module 2 are installed
In bottom plate 7-6 upper surface, and the first module 2, between the first guide assembly 5 and the second guide assembly 6, the second module 3 is pacified
On crossbeam 8-2, the 3rd module 4 is arranged on the second module 3 by ribs 11, and mechanical arm 1 is arranged on the 3rd module 4
On, fixture 9 is arranged on the orifice plate of upper lid 7-1 upper surfaces, and multiple fot screws 10 are uniformly arranged in bottom plate 7-6 lower surface.
Embodiment two：Illustrate present embodiment, a kind of soft group of biology described in present embodiment with reference to Fig. 4 and Fig. 5
Knitting the mechanical arm 1 of Mechanics Performance Testing device includes the first connecting plate 1-1, the first rotary joint 1-2, the second rotary joint 1-3
It is arranged on the 3rd rotary joint joint 1-4, the 3rd rotary joint 1-4 by the first connecting plate 1-1 on the 3rd module 4, second
Rotary joint 1-3 is connected with the 3rd rotary joint 1-4, and the first rotary joint 1-2 is connected with the second rotary joint 1-3；First rotation
Turning joint 1-2 includes the first stepper motor 1-21, clutch shaft bearing end cap 1-22, the first angular contact ball bearing 1-23, the second corner connection
It is sextuple to touch ball bearing 1-24, first bearing seat 1-25, the first plate 1-26, the second plate 1-27, the 3rd plate 1-28, the first main shaft 1-29
Sensor 1-210, sensor flange 1-211, quick chuck 1-212 and operating theater instruments 1-213, the first stepper motor 1-21 pass through
First plate 1-26 is connected with the first main shaft 1-29, and sextuple sensor 1-210 is arranged on the first main shaft 1-29, operating theater instruments 1-
213 are connected by quick chuck 1-212 and sensor flange 1-211 with sextuple sensor 1-210, clutch shaft bearing end cap 1-22,
First angular contact ball bearing 1-23, the second angular contact ball bearing 1-24, first bearing seat 1-25 are arranged on the 3rd plate 1-28, the
One plate 1-26, the 3rd plate 1-28 are arranged on the second plate 1-27 both sides；Second rotary joint 1-3 and the first rotary joint 1-2 pacifies
Dress mode is identical；3rd rotary joint 1-4 includes the second stepper motor 1-41, stepper motor flange 1-42, the second connecting plate 1-
43rd, second bearing seat 1-44, the third angle contact ball bearing 1-45, fourth angle contact ball bearing 1-46, second bearing end cap 1-47
With the second main shaft 1-48, the second stepper motor 1-41 on stepper motor flange 1-42, stepper motor flange 1-42 installations
On the second plate 1-43 is connected, the second connecting plate 1-43 is on the first connecting plate 1-1 lower surface, second bearing seat 1-
44th, the third angle contact ball bearing 1-45, fourth angle contact ball bearing 1-46, second bearing end cap 1-47 are arranged on the second connecting plate
On 1-43.Other compositions and annexation are identical with embodiment one.
Embodiment three：Illustrate present embodiment, a kind of biologic soft tissue mechanics described in present embodiment with reference to Fig. 6
First module 2 of performance testing device, the second module 3, the structure of the 3rd module 4 are identical, and the first module 2, the second module 3,
Three modules 4 include module motor 2-1, module protection cap 2-2, module slide unit 2-3, module sliding block 2-4, module motor flange 2-
5th, module leading screw 2-6, shaft coupling 2-7, the first limit switch 2-8, origin switch 2-9 and the second limit switch 2-10, module are slided
Block 2-4 is arranged on module leading screw 2-6, and module slide unit 2-3 is arranged on module sliding block 2-4, and module protection cap 2-2 is arranged on mould
Group upper surface, module motor 2-1 are connected by module motor flange 2-5 with module leading screw 2-6.It is other composition and annexation with
Embodiment one is identical.
Embodiment four：Illustrate present embodiment, a kind of biologic soft tissue mechanics described in present embodiment with reference to Fig. 7
First guide assembly 5 of performance testing device is identical with the structure of the second guide assembly 6, and the first guide assembly 5 and the second guide rail
Component 6 includes guide rail slide block 5-1 and guide rail 5-2, and guide rail slide block 5-1 is arranged on guide rail 5-2, guide rail slide block 5-1 and slide unit
8-1 lower surface connection, guide rail 5-2 are connected with bottom plate 7-6 upper surfaces.Other compositions and annexation and embodiment one
It is identical.
Embodiment five：Illustrate present embodiment, a kind of biologic soft tissue mechanics described in present embodiment with reference to Fig. 8
The fixture 9 of performance testing device includes being evenly distributed in the upper surface provided with more of plate 9-1, the first clamp bar 9-2 and the second clamp bar 9-3, plate 9-1
Individual screwed hole 9-11, the first clamp bar 9-2 and the second clamp bar 9-3 are connected by bolt with the screwed hole 9-11 of plate 9-1 upper surfaces.Its
It is formed and annexation is identical with embodiment one.
Embodiment six：Illustrate present embodiment, a kind of biologic soft tissue mechanics described in present embodiment with reference to Fig. 9
Each fot screw 10 of performance testing device includes screw 10-1, support foot pad 10-3 and two hex nut 10-2, two
Hex nut 10-2 is sleeved on screw 10-1, and screw 10-1 lower end is provided with support foot pad 10-3.Other compositions and connection are closed
System is identical with embodiment one.
Operation principle
After determining a kind of biologic soft tissue, corresponding order is inputted in computer control interface, test device passes through 6 DOF
Sensor gather syringe needle when being lifted, press, puncture, cut, the operation technique such as suturing caused mechanics parameter and
Related operation displacement.And power and displacement are fitted, the mathematical modulo to match with matched curve is established according to fitting result
Type, using mechanical model of this mathematical modeling as the internal organs under corresponding operating.
Suture, puncture, lifting, pressing, five kinds of syringe needles operation such as cutting can be divided into cut-in type operation and be grasped with non-cut-in type
Make.Cut-in type operation i.e. suture, puncture, three kinds of cutting.Two kinds of non-cut-in type motion i.e. lifting and pressing.Five kinds of syringe needle operations
Embodiment is as follows：
1st, lifting operation or pressing operation
This two kinds operations are to be moved on single direction.If making it carry out lifting motion or pressing motion in some directions,
Then tested biologic soft tissue is placed on fixture 9 first, and fixed by the first clamp bar 9-1 and the second clamp bar 9-2.By fixed
Position, determines initial operation points, fixed to keep syringe needle side after adjusting syringe needle direction by the first stepper motor, the second stepper motor
To constant, by three module motors, control single movement or operating effect is reached by the compound motion of several motors.
2nd, cutting operation
The motion is moved for cut-in type.Tested biologic soft tissue is placed on fixture 9 first, and passes through the first clamp bar 9-
1 and second clamp bar 9-2 fix.By positioning, initial operation points are determined, pass through the first stepper motor, the second stepper motor, the
Three stepper motors regulation syringe needle direction, makes it intersect at a certain angle with cut table, then fixed needle direction, passes through three
A motor in module motor so that syringe needle is cut, in cutting process, can constantly by the first stepper motor,
Second stepper motor, the 3rd stepper motor adjustment syringe needle direction so that device does multidirectional continuous cutting.
3rd, puncture procedure
The operation operates for cut-in type.It is related to puncturing the last stage and punctures the rear stage.The last stage is punctured, puncture force is always
Increase, until puncturing the biologic soft tissue.After puncturing, other power such as frictional force between having syringe needle and organizing.The operation than
The lifting campaign of non-cut-in type operation is similar to pressing motion principle, but complicated for it.It equally can also pass through three module motors
2-1, which forms compound motion, makes syringe needle reach preferably continuous operation effect.
4th, suture operation
The operation operates for cut-in type.It is related to being operated using related accessories, such as suture.Equally it can also lead to
Crossing three module motors formation compound motions makes syringe needle reach preferably continuous operation effect.
Data acquisition
When syringe needle is operated, sextuple sensor precisely gather the full detail of torque suffered by syringe needle and power to it is related
Displacement information, and computer is transported to by relevant way.
Establish model
The test data such as the mechanics parameter collected and associative operation position is fitted, obtains force-displacement curve.It is logical
Cross the mathematical modeling for approaching and establishing and matching with power-displacement matched curve.It is this kind of internal organs in corresponding operating using this mathematical modeling
Under mechanical model.So that other researchs or operation use.
The above described is only a preferred embodiment of the present invention, any formal limitation not is made to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, as long as be without departing from technical solution of the present invention content, according to the technical spirit of the present invention,
Within the spirit and principles in the present invention, any simple modification, equivalent substitution and improvement for being made to above example etc., still
Belong within the protection domain of technical solution of the present invention.
Claims (5)
- A kind of 1. biologic soft tissue Mechanics Performance Testing device, it is characterised in that：A kind of biologic soft tissue mechanical property is surveyed Trial assembly is put including mechanical arm (1), the first module (2), the second module (3), the 3rd module (4), the first guide assembly (5), second Guide assembly (6), casing (7), big frame (8), fixture (9) and multiple fot screws (10), the first module (2), the second module (3), the 3rd module (4) structure is identical, and the first module (2), the second module (3), the 3rd module (4) include module motor (2-1), module protection cap (2-2), module slide unit (2-3), module sliding block (2-4), module motor flange (2-5), module leading screw (2-6), shaft coupling (2-7), the first limit switch (2-8), origin switch (2-9) and the second limit switch (2-10), module are slided Block (2-4) is arranged on module leading screw (2-6), and module slide unit (2-3) is arranged on module sliding block (2-4), module protection cap (2- 2) module upper surface is arranged on, module motor (2-1) is connected by module motor flange (2-5) with module leading screw (2-6), casing (7) it is made up of upper lid (7-1), foreboard (7-2), back plate (7-3), left plate (7-4), right plate (7-5) and bottom plate (7-6), it is left Side plate (7-4) is vertically installed at the left side of bottom plate (7-6) upper surface, and right plate (7-5) is vertically installed at bottom plate (7-6) upper surface Right side, left plate (7-4), right plate (7-5), bottom plate (7-6) composition base assembly, foreboard (7-2) is vertically installed at lid The front end of (7-1) lower surface, back plate (7-3) are vertically installed at the rear end of lid (7-1) lower surface, upper lid (7-1), foreboard (7- 2), back plate (7-3) composition cover assembly, the cover assembly spiral-lock form casing (7) on the base assembly；Big frame (8) Be made up of slide unit (8-1), crossbeam (8-2), the first side rib (8-3) and the second side rib (8-4), crossbeam (8-2) and slide unit (8-1) by Side by side parallel is up to descended to set, the both ends of crossbeam (8-2) pass through respectively by the first side rib (8-3), the second side rib (8-4) with sliding The both ends connection of platform (8-1)；Slide unit (8-1) is arranged between the lower surface of lid (7-1) and the upper surface of bottom plate (7-6), sliding Platform (8-1) passes through the first guide assembly (5), the second guide assembly (6), the first module (2) that be arranged in parallel and bottom plate (7-6) Upper surface connect, and the center line of the first guide assembly (5) and the second guide assembly (6) along its length with slide unit (8-1) Centerline parallel in the width direction, the first module (2) is arranged on the upper surface of bottom plate (7-6), and the first module (2) is positioned at the Between one guide assembly (5) and the second guide assembly (6), the second module (3) is arranged on crossbeam (8-2), and the 3rd module (4) is logical Ribs (11) is crossed on the second module (3), mechanical arm (1) is arranged on the 3rd module (4), and fixture (9) is arranged on upper Cover on the orifice plate of (7-1) upper surface, multiple fot screws (10) are uniformly arranged in bottom plate (7-6) lower surface.
- A kind of 2. biologic soft tissue Mechanics Performance Testing device according to claim 1, it is characterised in that：Mechanical arm (1) wraps The first connecting plate (1-1), the first rotary joint (1-2), the second rotary joint (1-3) and the 3rd rotary joint joint (1-4) are included, 3rd rotary joint (1-4) is arranged on the 3rd module (4) by the first connecting plate (1-1), the second rotary joint (1-3) and the Three rotary joints (1-4) are connected, and the first rotary joint (1-2) is connected with the second rotary joint (1-3)；First rotary joint (1- 2) the first stepper motor (1-21), clutch shaft bearing end cap (1-22), the first angular contact ball bearing (1-23), the second angular contact are included Ball bearing (1-24), first bearing seat (1-25), the first plate (1-26), the second plate (1-27), the 3rd plate (1-28), the first main shaft (1-29) sextuple sensor (1-210), sensor flange (1-211), quick chuck (1-212) and operating theater instruments (1-213), the One stepper motor (1-21) is connected by the first plate (1-26) with the first main shaft (1-29), and sextuple sensor (1-210) is arranged on On first main shaft (1-29), operating theater instruments (1-213) passes through quick chuck (1-212) and sensor flange (1-211) and 6 DOF Sensor (1-210) connects, clutch shaft bearing end cap (1-22), the first angular contact ball bearing (1-23), the second angular contact ball bearing (1-24), first bearing seat (1-25) are arranged on the 3rd plate (1-28), and the first plate (1-26), the 3rd plate (1-28) are arranged on the The both sides of two plates (1-27)；Second rotary joint (1-3) is identical with the first rotary joint (1-2) mounting means；3rd rotation is closed Saving (1-4) includes the second stepper motor (1-41), stepper motor flange (1-42), the second connecting plate (1-43), second bearing seat (1-44), the third angle contact ball bearing (1-45), fourth angle contact ball bearing (1-46), second bearing end cap (1-47) and second Main shaft (1-48), the second stepper motor (1-41) are arranged on stepper motor flange (1-42), stepper motor flange (1-42) peace On the second plate of connection (1-43), the second connecting plate (1-43) is arranged on the lower surface of the first connecting plate (1-1), the second axle Bearing (1-44), the third angle contact ball bearing (1-45), fourth angle contact ball bearing (1-46), second bearing end cap (1-47) peace On the second connecting plate (1-43).
- A kind of 3. biologic soft tissue Mechanics Performance Testing device according to claim 1, it is characterised in that：First guide assembly (5) it is identical with the second guide assembly (6) structure, and the first guide assembly (5) and the second guide assembly (6) include guide rail slide block (5-1) and guide rail (5-2), guide rail slide block (5-1) are arranged on guide rail (5-2), under guide rail slide block (5-1) and slide unit (8-1) Surface is connected, and guide rail (5-2) is connected with bottom plate (7-6) upper surface.
- A kind of 4. biologic soft tissue Mechanics Performance Testing device according to claim 1, it is characterised in that：Fixture (9) includes Plate (9-1), the first clamp bar (9-2) and the second clamp bar (9-3), plate (9-1) are evenly distributed in the upper surface provided with multiple screwed holes (9-11), First clamp bar (9-2) and the second clamp bar (9-3) are connected by bolt with the screwed hole (9-11) of plate (9-1) upper surface.
- A kind of 5. biologic soft tissue Mechanics Performance Testing device according to claim 1, it is characterised in that：Each fot screw (10) screw (10-1), support foot pad (10-3) and two hex nuts (10-2), two hex nut (10-2) suits are included On screw (10-1), the lower end of screw (10-1) is provided with support foot pad (10-3).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610117830.1A CN105758705B (en) | 2016-03-02 | 2016-03-02 | A kind of biologic soft tissue Mechanics Performance Testing device |
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|---|---|---|---|
| CN201610117830.1A CN105758705B (en) | 2016-03-02 | 2016-03-02 | A kind of biologic soft tissue Mechanics Performance Testing device |
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| CN105758705A CN105758705A (en) | 2016-07-13 |
| CN105758705B true CN105758705B (en) | 2018-03-13 |
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Citations (6)
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| CN202267466U (en) * | 2011-09-28 | 2012-06-06 | 武汉和越装备技术有限公司 | Displacement sensor performance detection apparatus |
| CN104007027A (en) * | 2014-06-17 | 2014-08-27 | 河北大学 | Biological soft tissue characteristic test and mechanical parameter calibration system |
| CN204008276U (en) * | 2014-08-08 | 2014-12-10 | 上海点键科技有限公司 | Medical needle puncture force proving installation |
| CN104398292A (en) * | 2014-12-10 | 2015-03-11 | 万恒 | CT-guided automatic puncture positioning position finder convenient to control |
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| CN105300812A (en) * | 2015-10-26 | 2016-02-03 | 苏州大学张家港工业技术研究院 | Biological soft tissue mechanical property testing instrument and biological soft tissue mechanical testing method |
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| US20070055289A1 (en) * | 2003-08-06 | 2007-03-08 | Scouten Charles W | Digital stereotaxic manipulator with controlled angular displacement and fine-drive mechanism |
| WO2007004993A1 (en) * | 2005-06-30 | 2007-01-11 | National University Of Singapore | Apparatus and method for measuring in vivo biomechanical properties of skin |
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| CN202267466U (en) * | 2011-09-28 | 2012-06-06 | 武汉和越装备技术有限公司 | Displacement sensor performance detection apparatus |
| CN104007027A (en) * | 2014-06-17 | 2014-08-27 | 河北大学 | Biological soft tissue characteristic test and mechanical parameter calibration system |
| CN204008276U (en) * | 2014-08-08 | 2014-12-10 | 上海点键科技有限公司 | Medical needle puncture force proving installation |
| CN104398292A (en) * | 2014-12-10 | 2015-03-11 | 万恒 | CT-guided automatic puncture positioning position finder convenient to control |
| CN104977211A (en) * | 2015-07-14 | 2015-10-14 | 苏州大学张家港工业技术研究院 | Mechanical property tester for biological soft tissue |
| CN105300812A (en) * | 2015-10-26 | 2016-02-03 | 苏州大学张家港工业技术研究院 | Biological soft tissue mechanical property testing instrument and biological soft tissue mechanical testing method |
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