CN111829578B - Instrument testing method - Google Patents
Instrument testing method Download PDFInfo
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- CN111829578B CN111829578B CN202010472207.4A CN202010472207A CN111829578B CN 111829578 B CN111829578 B CN 111829578B CN 202010472207 A CN202010472207 A CN 202010472207A CN 111829578 B CN111829578 B CN 111829578B
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Abstract
The application relates to the technical field of medical instrument testing, in particular to an instrument testing method, which solves the problem that the existing medical instrument testing equipment can only test one performance of a medical instrument. The method comprises the following steps: sending a test command comprising a clamping performance test command and an opening and closing angle test command to a driving device through a control device; driving an instrument to be tested to carry out clamping operation and opening and closing operation by using a driving device; detecting the opening and closing angle of the to-be-tested instrument during opening and closing operation, and sending the measured value of the opening and closing angle to the control device; detecting the clamping force generated by the clamping operation of the to-be-tested instrument, and sending the measured value of the clamping force to the control device; and comparing the measured value of the opening and closing angle with the preset value of the opening and closing angle to judge whether the opening and closing angle of the instrument to be tested is qualified or not.
Description
Technical Field
The application relates to the technical field of medical instrument testing, in particular to an instrument testing method.
Background
At present, the medical industry has higher and higher requirements on the reliability of medical instruments, so that all performances of the medical instruments need to be tested in an all-round mode by medical instrument testing equipment, however, the existing medical instrument testing equipment is single in function, generally, one medical instrument testing equipment can only test one performance of the medical instruments, the rapid testing of the medical instruments is not facilitated, and the time for putting the medical instruments on the market is delayed.
Disclosure of Invention
In view of this, an object of the present application is to provide an instrument testing method, which achieves the purpose of testing multiple performance parameters of a medical instrument through a set of instrument testing tools, and effectively improves the testing efficiency, thereby alleviating the problems that in the prior art, a medical instrument testing device can only test one performance of the medical instrument, is not beneficial to the rapid test of the medical instrument, and lags the time for putting the medical instrument on the market.
The present application provides a method of device testing, the method comprising:
sending a test command to a driving device through a control device, wherein the test command comprises a clamping performance test command and an opening and closing angle test command, the clamping performance test command comprises a clamping force preset value, and the opening and closing angle test command comprises an opening and closing angle preset value;
driving an instrument to be tested to perform corresponding test operation by using the driving device according to the received test command, wherein the test operation comprises clamping operation and opening and closing operation;
detecting the opening and closing angle of the to-be-tested instrument during opening and closing operation by using an opening and closing angle measurer in the driving device, and sending an opening and closing angle measured value to the control device;
detecting the clamping force generated by the clamping operation of the instrument to be tested by using a force measuring device, and sending a measured value of the clamping force to the control device;
and judging whether the clamping performance of the to-be-tested instrument is qualified or not by comparing the clamping force measured value with the clamping force preset value by utilizing the control device, and judging whether the opening and closing angle of the to-be-tested instrument is qualified or not by comparing the opening and closing angle measured value with the opening and closing angle preset value.
According to an embodiment of the present application, preferably, in the above apparatus testing method, the comparing the clamping force measurement value with the clamping force preset value to determine whether the clamping performance of the apparatus to be tested is qualified includes:
comparing the difference between the clamping force measured value and the clamping force preset value with the preset clamping force threshold range, and judging that the clamping performance of the to-be-tested instrument is qualified when the difference is within the preset clamping force threshold range;
judging whether the opening and closing angle of the to-be-tested instrument is qualified or not by comparing the opening and closing angle measured value with the opening and closing angle preset value, wherein the judging step comprises the following steps:
and comparing the difference value between the opening and closing angle measured value and the opening and closing angle preset value with the preset opening and closing angle threshold range, and judging that the opening and closing angle of the to-be-tested instrument is qualified when the difference value is within the preset opening and closing angle threshold range.
According to an embodiment of the present application, preferably, in the above apparatus testing method, the test command further includes a turn test command, and the turn test command includes a turn angle preset value, and the method further includes:
driving the to-be-tested instrument to perform bending operation by using the driving device according to the received bending test command sent by the control device;
detecting the bending angle of the to-be-tested instrument during bending operation by using a bending angle measurer in the driving device, and sending a measured value of the bending angle to the control device;
and judging whether the turning performance of the instrument to be tested is qualified or not by comparing the turning angle measured value with the turning angle preset value by utilizing the control device.
According to an embodiment of the present application, preferably, in the above apparatus testing method, the test command further includes a rotation test command, where the rotation test command includes a preset rotation angle value, and the method further includes:
driving the to-be-tested instrument to rotate by using the driving device according to the received rotation test command sent by the control device;
detecting a rotation angle of the to-be-tested instrument during rotation operation by using a rotation angle measurer in the driving device, and sending a rotation angle measurement value to the control device;
and judging whether the rotation performance of the instrument to be tested is qualified or not by comparing the rotation angle measured value with the rotation angle preset value by utilizing the control device.
According to an embodiment of the application, preferably, in the above instrument testing method, the test command further includes a response time test command including a type of a target motor, wherein the target motor includes at least one of a clamping motor, a bending motor, and a rotating motor, and the method further includes:
recording the moment when the drive device receives the response time test command as a first moment, recording the moment when the target motor starts to execute the response time test command as a second moment, taking the difference value between the second moment and the first moment as a response time measured value of the target motor, and sending the response time measured value to the control device;
and comparing the received response time measured value with a pre-stored response time preset value by using the control device to judge whether the response performance of the target motor is qualified.
According to an embodiment of the application, preferably, in the above instrument testing method, the test command further includes a backlash error test command, where the backlash error test command includes a type of a target motor, a preset rotation angle of the target motor, and a preset actuator rotation angle of an actuator corresponding to the preset rotation angle, where the target motor includes at least one of a gripping motor, a bending motor, and a rotating motor, and the method further includes:
after the driving device drives the target motor to rotate by the preset rotation angle, detecting the rotation angle of a driver connected with the target motor; taking the difference value between the angle and the preset actuator rotation angle of the actuator as a backlash error, and sending the measured value of the backlash error to the control device;
and comparing the received idle return error measured value with an idle return error preset value corresponding to the target motor by using the control device to judge whether the idle return performance of the target motor is qualified.
According to an embodiment of the present application, preferably, in the above apparatus testing method, the method further includes:
detecting real-time position information of a target motor in the driving device, and sending the real-time position information to the control device, wherein the target motor comprises at least one of a clamping motor, a bending motor and a rotating motor;
determining a difference value between the preset position information and the real-time position information of the target motor by using the control device, generating a position adjusting instruction according to the difference value and sending the position adjusting instruction to the driving device so as to enable the position adjusting instruction to be transmitted to the driving device
And the driving device adjusts the position of the target motor according to the difference value, so that the real-time position information of the target motor is consistent with the preset position information.
According to an embodiment of the present application, preferably, in the above apparatus testing method, the method further includes:
and judging the type of the instrument to be tested by using the control device according to the obtained instrument parameters of the instrument to be tested, and calling a corresponding test command according to the type of the instrument to be tested.
According to the instrument testing method, a control device sends a testing command comprising a clamping performance testing command and an opening and closing angle testing command to a driving device; driving an instrument to be tested to carry out clamping operation and opening and closing operation by using a driving device; detecting the opening and closing angle of the to-be-tested instrument during opening and closing operation, and sending the measured value of the opening and closing angle to the control device; detecting the clamping force generated by the clamping operation of the to-be-tested instrument, and sending the measured value of the clamping force to the control device; the control device is used for comparing the clamping force measured value with the clamping force preset value to judge whether the clamping performance of the to-be-tested instrument is qualified or not, and comparing the opening and closing angle measured value with the opening and closing angle preset value to judge whether the opening and closing angle of the to-be-tested instrument is qualified or not, so that the clamping performance and the opening and closing angle performance of the to-be-tested instrument are tested, the purpose of simultaneously testing multiple performance parameters of the medical instrument is achieved, the testing efficiency is effectively improved, and the problem that the time of putting the medical instrument into the market lags in the prior art is solved.
Drawings
The scope of the present disclosure may be better understood by reading the following detailed description of exemplary embodiments in conjunction with the accompanying drawings. Wherein the included drawings are:
fig. 1 is a flowchart of an apparatus testing method according to an embodiment of the present disclosure.
Fig. 2 is another flowchart of an apparatus testing method according to an embodiment of the present disclosure.
Fig. 3 is a model diagram of an instrument testing tool provided in the embodiment of the present application.
Fig. 4 is a structural framework diagram of an instrument testing tool provided in an embodiment of the present application.
Fig. 5 is a detailed view of a structural frame of an instrument testing tool according to an embodiment of the present application.
Fig. 6 is a schematic diagram of an instrument testing tool provided in an embodiment of the present application.
Icon: 100-an instrument testing tool; 110-a control device; 120-a drive device; 130-a force measuring device; 140-a base; 200-the apparatus to be tested.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. In the description of the present application, the terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as merely or implying relative importance.
Example one
Referring to fig. 1 and 2, the present embodiment provides a device testing method, which can be applied to the device testing tool 100 of fig. 3, and the method includes steps S110 to S160.
Step S110, determining the type of the instrument 200 to be tested according to the obtained instrument parameter of the instrument 200 to be tested by using the control device 110, and calling a corresponding test command according to the type of the instrument 200 to be tested.
It can be understood that, since the instrument data includes information related to the type of the instrument 200 to be tested, the control device 110 may obtain the type of the instrument 200 to be tested by analyzing the received instrument data.
In step S120, a test command is sent to the driving device 120 through the control device 110.
The test command comprises a clamping performance test command and an opening and closing angle test command, the clamping performance test command comprises a clamping force preset value, and the opening and closing angle test command comprises an opening and closing angle preset value.
Step S130, driving the to-be-tested instrument 200 to perform a corresponding test operation by using the driving device 120 according to the received test command.
Wherein the test operation comprises a clamping operation and an opening and closing operation.
Step S140, detecting an opening and closing angle of the apparatus to be tested 200 during the opening and closing operation by using the opening and closing angle measuring device in the driving device 120, and sending a measured value of the opening and closing angle to the control device 110.
Step S150, detecting a clamping force generated by the clamping operation of the to-be-tested instrument 200 by using the force measuring device, and sending a measured value of the clamping force to the control device 110.
Step S160, comparing the clamping force measurement value with the clamping force preset value by the control device 110 to determine whether the clamping performance of the to-be-tested instrument 200 is qualified, and comparing the opening and closing angle measurement value with the opening and closing angle preset value to determine whether the opening and closing angle of the to-be-tested instrument 200 is qualified.
In this embodiment, the control device 110 stores a preset clamping force threshold range, and the determining whether the clamping performance of the apparatus to be tested 200 is qualified by comparing the clamping force measurement value with the clamping force preset value includes: comparing the difference between the clamping force measured value and the clamping force preset value with the preset clamping force threshold range, and judging that the clamping performance of the to-be-tested instrument 200 is qualified when the difference is within the preset clamping force threshold range; the step of judging whether the opening and closing angle of the to-be-tested instrument 200 is qualified by comparing the opening and closing angle measurement value with the opening and closing angle preset value includes: and comparing the difference value between the opening and closing angle measurement value and the opening and closing angle preset value with the preset opening and closing angle threshold range, and judging that the opening and closing angle of the to-be-tested instrument 200 is qualified when the difference value is within the preset opening and closing angle threshold range.
In order to increase the types of the devices 200 to be tested that can be tested by the device testing tool 100, it is necessary to expand the testing items that can be performed by the device testing tool 100, and therefore, in this embodiment, the testing command further includes a turning testing command, where the turning testing command includes a preset turning angle value, and the method further includes: driving the to-be-tested instrument 200 to perform a bending operation by using the driving device 120 according to a received bending test command sent by the control device 110, detecting a bending angle of the to-be-tested instrument 200 during the bending operation by using a bending angle measurer in the driving device 120, and sending a measured value of the bending angle to the control device 110; and judging whether the turning performance of the instrument 200 to be tested is qualified or not by comparing the turning angle measured value with the turning angle preset value by utilizing the control device 110.
It is understood that, according to the bending angle measurer connected to the bending motor in the driving device 120, a current signal and a pulse counting result obtained by the instrument 200 to be tested performing the bending operation may be measured and transmitted to the control device 110. The control device 110 obtains a turning angle measurement value of the to-be-tested instrument 200 according to the received current signal, the pulse counting result and a preset angle calculation method, compares a difference value between the turning angle measurement value and the turning angle preset value with a preset turning angle threshold range to judge whether the turning performance of the to-be-tested instrument 200 is qualified, and when the difference value is within the preset turning angle threshold range, the turning performance of the to-be-tested instrument 200 is qualified.
In order to ensure that the apparatus 200 to be tested can operate normally under the driving of each motor included in the driving device 120, it is necessary to ensure the performance of each motor, and therefore, in this embodiment, the test command further includes a response time test command, where the response time test command includes a type of a target motor, where the target motor includes at least one of a clamping motor, a bending motor, and a rotating motor, and the method further includes: recording a time when the response time test command is received by the driving device 120 as a first time, recording a time when the target motor starts to execute the response time test command as a second time, taking a difference value between the second time and the first time as a response time measurement value of the target motor, and sending the response time measurement value to the control device 110; and comparing the received response time measured value with a pre-stored response time preset value by using the control device 110 to judge whether the response performance of the target motor is qualified.
It is understood that the response performance of the target motor is qualified when the difference between the response time measurement value and the response time preset value is within a preset time threshold range.
Optionally, in this embodiment, the first preset time threshold is in a range from 0 μ second to 10 μ second, that is, when a difference between the first response time measurement value of the clamping motor and the first response time preset value is in a range from 0 μ second to 10 μ second, the response performance of the clamping motor is qualified; similarly, the second preset time threshold in this embodiment is in a range from 0 μ sec to 10 μ sec, and when a difference between the second response time measurement value of the turning motor and the second response time preset value is in a range from 0 μ sec to 10 μ sec, the response performance of the turning motor is qualified.
It should be noted that the driving device 120 may include a plurality of motors, and the preset time threshold range of each motor may be the same or different.
In this embodiment, the test command further includes an idle-return error test command, where the idle-return error test command includes a type of a target motor, a preset rotation angle of the target motor, and a preset actuator rotation angle of an actuator corresponding to the preset rotation angle, where the target motor includes at least one of a clamping motor, a bending motor, and a rotating motor, and the method further includes: after the driving device 120 drives the target motor to rotate by the preset rotation angle, detecting the angle by which a driver connected with the target motor rotates; taking the difference between the angle and a preset actuator rotation angle of the actuator as a backlash error, and sending the measured value of the backlash error to the control device 110; and comparing the received backlash error measured value with a backlash error preset value corresponding to the target motor by using the control device 110 to judge whether the backlash performance of the target motor is qualified.
It can be understood that the backlash performance of the target motor is qualified when the difference between the backlash error measured value and the backlash error preset value is within a preset backlash error threshold range.
It should be noted that the backlash error refers to that the transmission phases of the input end and the output end are not consistent, in this embodiment, the input end is the motor in the driving device 120, the output end is the instrument 200 to be tested, and when the instrument testing tool 100 starts to be powered on, because the input end and the output end are in insufficient contact, the transmission phase of the input end cannot be completely transmitted to the output end, so that the backlash error is generated. Optionally, the preset backlash error threshold range is 0 ° to 5 °. The driving device 120 may include a plurality of motors, and the preset backlash error threshold range of each motor may be the same or different.
In this embodiment, the method further includes: detecting real-time position information of a target motor in the driving device 120, and sending the real-time position information to the control device 110, wherein the target motor includes at least one of a clamping motor, a bending motor, and a rotating motor; determining a difference value between preset position information and real-time position information of the target motor by using the control device 110, and generating a position adjustment instruction according to the difference value and sending the position adjustment instruction to the driving device 120; so that the driving device 120 adjusts the position of the target motor according to the difference value, and the real-time position information of the target motor is consistent with the preset position information.
It can be understood that the clamping motor and the bending motor are controlled in a closed loop manner, so as to avoid that a large position deviation occurs between an actual position and a preset position due to shaking in the continuous operation process of the clamping motor and the bending motor, so that the to-be-tested instrument 200 deviates from a preset track of a user, and an accident is caused.
Example two
Referring to fig. 3, 4 and 5, the present embodiment provides an apparatus testing tool 100 for testing an apparatus 200 to be tested, where the apparatus testing tool 100 includes: the control device 110 is configured to generate and send a test command, where the test command includes a clamping performance test command and an opening and closing angle test command;
the driving device 120 is electrically connected with the control device 110, is mechanically connected with the to-be-tested instrument 200 through a driver, and is used for executing the test command when receiving the test command sent by the control device 110 so as to drive the to-be-tested instrument 200 to perform corresponding test operation; wherein the test operation comprises a clamping operation and an opening and closing operation; the driving device 120 includes an opening and closing angle measurer, and is configured to detect an opening and closing angle of the to-be-tested apparatus 200 during opening and closing operations and send a measured value of the opening and closing angle to the control device 110;
the force measuring device is electrically connected with the control device 110 and is used for detecting the clamping force of the to-be-tested instrument 200 during clamping operation and sending a measured value of the clamping force to the control device 110;
the control device 110 is further configured to determine whether the clamping performance and the opening/closing angle of the instrument 200 to be tested are acceptable according to the received clamping force measurement value and the opening/closing angle measurement value.
In this embodiment, the control device 110 and the driving device 120 may be integrated in a housing structure; the device under test 200 includes various devices including medical devices, when the device under test 200 is a medical device, including but not limited to scissors, graspers, separation forceps, and needle holders.
It should be noted that the clamping performance test command includes a clamping force preset value, and the opening/closing angle test command includes an opening/closing angle preset value, so that the control device 110 can determine whether the clamping performance of the to-be-tested instrument 200 is qualified according to the clamping force measured value and the clamping force preset value, and determine whether the opening/closing angle of the to-be-tested instrument 200 is qualified according to the opening/closing angle measured value and the opening/closing angle preset value.
Specifically, the control device 110 includes a display and a development board, optionally, in this embodiment, an LCD display is used, and the development board is electrically connected to the display, the driving device 120, the force measuring device 130 and the to-be-tested instrument 200 respectively; optionally, the development board is an STM32 series, the development board is used for storing tool test information, the tool test information includes: an operating program of the control device 110, test commands and measurement values received by the control device 110 from the drive device 120 or the force-measuring device 130, wherein the operating program is used to interpret the measurement values to generate a test report, the measurement values being embodied in the form of electrical signals.
In this embodiment, the driving device 120 includes: the microcontroller is electrically connected with the control device 110 and used for outputting a corresponding driving instruction according to a test command sent by the control device 110; the motor driver is electrically connected with the microcontroller and is used for driving according to a driving instruction sent by the microcontroller; and the clamping motor is connected with the motor driver and used for driving the to-be-tested instrument 200 to execute clamping operation or opening and closing operation through the driver under the driving of the motor driver.
In order to enable testing of a variety of properties of the instrument 200 to be tested, the drive device 120 in this embodiment includes a plurality of motors, each for testing one or more properties of the instrument 200 to be tested.
The driving device 120 further includes: and the bending motor is connected with the motor driver and is used for driving the to-be-tested instrument 200 to execute bending operation through the driver under the driving of the motor driver when the test command is a bending test command.
The driving device 120 further includes: and the rotating motor is connected with the motor driver and is used for driving the to-be-tested instrument 200 to execute rotating operation through the driver under the driving of the motor driver when the test command is a rotating test command.
It is understood that the opening and closing angle, the bending angle and the rotation angle of the tool testing device 100 may be measured by providing an angle sensor or an angular displacement sensor in the driving device 120.
In this embodiment, an opening and closing angle measurer is used to measure the opening and closing angle of the instrument 200 to be tested, and the opening and closing angle measurer includes: the current acquisition module is electrically connected with the clamping motor and is used for acquiring a current signal generated when the clamping motor rotates; the pulse counting module is electrically connected with the clamping motor and used for counting pulse signals corresponding to current signals generated when the clamping motor rotates; the microcontroller is connected with the current acquisition module and the pulse counting module respectively, and is used for forwarding the current signal acquired by the current acquisition module and the pulse counting result measured by the pulse counting module to the control device, so that the control device can obtain an angle measurement value 110 according to the current signal and the pulse counting result.
Specifically, the microcontroller analyzes a test command received by the driving device 120 and sent by the control device 110, controls the motor driver according to the analyzed test command, so that the motor driver drives the motor to rotate to perform an opening and closing operation, the motor driver generates a current when driving the motor to perform the above operation, acquires and counts the current according to the current acquisition module and the pulse counting module to obtain a current measurement value, and sends the current measurement value to the control device 110 to obtain an opening and closing angle measurement value according to the current measurement value.
It should be noted that, in this embodiment, each motor corresponds to an angle measuring device, for example, the clamping motor corresponds to an opening and closing angle measuring device, the bending motor corresponds to a bending angle measuring device, the bending angle measuring device is composed of a bending current collecting module and a bending pulse counting module, the rotating motor corresponds to a rotating angle measuring device, the rotating angle measuring device is composed of a rotating current collecting module and a rotating pulse counting module, the structures of the bending angle measuring device and the rotating angle measuring device are the same as those of the opening and closing angle measuring device, and the working principle of measuring the angle is also the same, so that the bending angle measuring value of the to-be-tested instrument 200 or the rotating angle measuring value of the to-be-tested instrument 200 can be obtained, and details are not repeated here.
It should be noted that the apparatus to be tested 200 comprises: the device comprises an instrument body and a storage device, wherein the storage device is used for storing data of the instrument body, and the data of the instrument body comprises related information of the type of the instrument 200 to be tested.
In particular, the force measuring device 130 comprises a force-sensitive force measuring device 130 and a pressure-sensitive force measuring device 130, optionally, in this embodiment, the force-sensitive force measuring device 130 is used, and the force-sensitive force measuring device 130 is configured to convert the detected clamping force measurement value from a force signal to an electrical signal and send the electrical signal to the control device 110.
In this embodiment, the force measuring device 130 includes: a first sensor, configured to detect a clamping force of the to-be-tested instrument 200 in a first direction to obtain a first clamping force measurement value, and send the first clamping force measurement value to the control device 110; the second sensor is configured to detect a clamping force of the to-be-tested instrument 200 in a second direction to obtain a second clamping force measurement value, and send the second clamping force measurement value to the control device 110, where an included angle exists between the first direction and the second direction; the control device 110 determines whether the clamping performance of the instrument to be tested 200 is qualified according to the received first clamping force measurement value and the second clamping force measurement value.
It is understood that, although the first sensor and the second sensor are both disposed at the end of the to-be-tested instrument 200, an included angle exists between the first sensor and the second sensor, so that the clamping force of the to-be-tested instrument 200 in different directions can be measured.
Specifically, in this embodiment, an included angle exists between the first direction and the second direction, which means that an angle between the first direction and the second direction may range from 0 ° to 180 °, and optionally, the angle selected in this embodiment is 90 °. In addition, the predetermined clamping force threshold is in the range of 0-10 newtons.
Specifically, in this embodiment, the first direction is a transverse direction of the to-be-tested instrument 200, and the second direction is a longitudinal direction of the to-be-tested instrument 200, that is, when a difference between a measured value of a clamping force of the to-be-tested instrument 200 in the transverse direction and a preset value of the clamping force detected by the first sensor is 0 to 10 newtons, and a difference between a measured value of a clamping force of the to-be-tested instrument 200 in the longitudinal direction and a preset value of the clamping force detected by the second sensor is 0 to 10 newtons, the clamping performance of the to-be-tested instrument 200 is qualified.
It is understood that the number of the motors included in the driving device 120 may be more than two, and a plurality of motors may be used to drive the tool to be tested 200 to perform different operations, so that the tool testing fixture 100 detects the different operations of the tool to be tested 200, thereby expanding the testing capability of the tool testing fixture 100. Preferably, in this embodiment, the driving device 120 includes a clamping motor, a bending motor and a rotating motor, and the clamping motor, the bending motor and the rotating motor are packaged together and are respectively connected to the to-be-tested apparatus 200 when being used for testing different performances of the to-be-tested apparatus 200.
The driving device 120 controls the clamping motor, the turning motor and the rotating motor respectively through a control component of the driving device in a microcontroller included in the driving device, so that the clamping motor, the turning motor and the rotating motor respectively execute corresponding operations.
In this embodiment, the apparatus testing tool 100 further includes a dial switch, connected to the control device 110, and configured to embody the apparatus type of the apparatus 200 to be tested based on a setting of a user, so that the control device 110 can obtain the apparatus type of the apparatus 200 to be tested by reading a value of the dial switch.
It is understood that the control device 110 includes an instrument recognition unit, which can obtain the instrument data in the memory device of the instrument 200 to be tested and send the instrument data to the control device 110; the control device 110 can obtain the type of the to-be-tested instrument 200 according to the received instrument data, and obtain a corresponding test command from the control device 110 according to the type of the to-be-tested instrument 200.
Optionally, the instrument recognition unit is a first single chip microcomputer with an EEPROM chip; the storage device of the to-be-tested instrument 200 is a second single chip microcomputer connected with a six-bit dial switch; the instrument data is a digital code consisting of 6 bits of 0 or 1.
Specifically, a user inputs a digital code through the six-digit dial switch, and stores the digital code in the second single chip microcomputer, and the first single chip microcomputer reads the digital code stored in the second single chip microcomputer through an EEPROM chip included in the first single chip microcomputer and sends the digital code to the control device 110; the control device 110 can analyze the received digital code in a storage device of the control device 110 to obtain the instrument type of the instrument 200 to be tested corresponding to the digital code, and obtain a corresponding test command from the control device 110 according to the type of the instrument 200 to be tested.
EXAMPLE III
Referring to fig. 3, 4 and 5, the present embodiment provides an apparatus testing tool 100 for testing an apparatus 200 to be tested, where the apparatus testing tool 100 includes: the control device 110, the driving device 120 and the force measuring device are used for testing various performances of the instrument 200 to be tested. The tool testing fixture 100 further includes a base 140, and the control device 110, the driving device 120, the force measuring device 130, and the tool 200 to be tested are detachably disposed on the base 140.
It can be appreciated that the apparatus testing tool 100 is assembled in a modular manner, so that a problem source is easily located when a fault occurs, and later maintenance is facilitated.
Before testing the device 200 to be tested, the device 200 to be tested is mounted on the driving seat of the base plate of the device testing tool 100, and the control device 110 automatically identifies the type of the device 200 to be tested according to the device code of the device 200 to be tested, for example, 110000 represents a class C forceps.
In this embodiment, the control device 110 can control the three motors in the driving device 120 to move the to-be-tested instrument 200, so as to implement the to-be-tested instrument 200 to perform various surgical operations, wherein the surgical operations include, but are not limited to: cutting, separating, grasping, suturing, and the like; the motor includes but is not limited to: a clamping motor, a bending motor and a rotating motor. Specifically, the upper computer in communication connection with the control device 110 issues each motion parameter of the to-be-tested instrument 200 to the control device 110 through an ethernet protocol, and the control device 110 automatically uses the acquired motion parameter as a preset value for performing various tests on the to-be-tested instrument 200, including a clamping force preset value, an opening and closing angle preset value, a turning angle preset value, and a backlash error preset value. Illustratively, the preset opening and closing angle threshold range in the embodiment is 0 ° to 10 °, and when the difference angle between the detected opening and closing angle measurement value and the opening and closing angle preset value is between 0 ° and 10 °, the opening and closing performance of the apparatus 200 to be tested is qualified; in this embodiment, the preset turning angle threshold range is 0 ° to 10 °, that is, when the difference angle between the detected turning angle measurement value and the turning angle preset value is between 0 ° and 10 °, the turning performance of the apparatus 200 to be tested is qualified.
After the motor is powered on, the response time and the backlash value of the motor need to be measured first, and a specific measurement method may be referred to in embodiment four, which is not described herein again.
And measuring the idle return value of the motor so as to facilitate a worker to dynamically adjust configuration parameters of the motor according to whether the idle return value of the motor is qualified or not, or to replace hardware equipment related to the motor.
When the test is started, the control device 110 controls the clamping motor to perform the clamping operation by a PID control method built in a microcontroller included therein, so as to measure the clamping force and the opening/closing angle of the instrument 200 to be tested; controlling the turning motor to measure the turning angle by a PID control method;
in the testing process, the control device 110 monitors the position signal of each motor in real time, acquires the motor encoder value, and generates the position feedback quantity of the motor according to the program prestored in the real-time control device 110 so as to perform closed-loop control on the motor.
After the testing process is finished, as shown in fig. 6, the control device 110 generates a detailed test report according to each test result of the to-be-tested instrument 200, can determine whether the to-be-tested instrument 200 is qualified or not from the aspects of the idle return value of the motor, the response time of the motor, the clamping force of the to-be-tested instrument 200, the opening and closing angle of the to-be-tested instrument 200, the bending angle of the to-be-tested instrument 200, and the like, and has a simple and rapid testing process, the test result is embodied in a visual report form, and the test report is sent to the upper computer so that a worker can conveniently read the test report of the to-be-tested instrument 200 from a display of the upper computer.
Example four
The present embodiment provides an instrument testing system, which includes an upper computer and the instrument testing tool 100, where the upper computer is in communication connection with the control device 110 in the instrument testing tool 100.
It can be understood that the upper computer can be a host computer in the form of a smart phone, a tablet computer, a desktop computer and the like. The communication connection between the upper computer and the control device 110 includes, but is not limited to, RS232 serial communication and RS485 serial communication.
Particularly, the upper computer is used for upgrading an operation program in the control device 110 in the apparatus testing tool 100, and the upper computer is further used for receiving a test report sent by the control device 110.
In summary, in the apparatus testing method provided by the present application, the control device sends the test command including the clamping performance test command and the opening/closing angle test command to the driving device; driving an instrument to be tested to carry out clamping operation and opening and closing operation by using a driving device; detecting the opening and closing angle of the to-be-tested instrument during opening and closing operation, and sending the measured value of the opening and closing angle to the control device; detecting the clamping force generated by the clamping operation of the to-be-tested instrument, and sending the measured value of the clamping force to the control device; whether the clamping performance of the to-be-tested instrument is qualified or not is judged by comparing the clamping force measured value with the clamping force preset value through the control device, and whether the opening and closing angle of the to-be-tested instrument is qualified or not is judged by comparing the opening and closing angle measured value with the opening and closing angle preset value, so that the aims of testing the opening and closing angle performance, the clamping force performance, the bending performance, the idle return performance and other performances of the to-be-tested instrument are fulfilled, the problems that in the prior art, a medical instrument testing device can only test one performance of the to-be-tested instrument, the medical instrument can not be rapidly tested, the time for putting the medical instrument into the market is delayed are solved, the testing efficiency is effectively improved, and the problem that the time for putting the medical instrument into the market is delayed in the prior art is solved.
Furthermore, the instrument testing method provided by the application can also generate a test report according to the test result, so that the labor cost for manually processing the test result is saved; further, the instrument test fixture 100 that this application provided is assembled with the removable mode and is formed instrument test fixture can fix a position concrete subassembly fast when breaking down to repair or replace this subassembly, make things convenient for test fixture's maintenance and maintenance, have very high practicality.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Although the embodiments disclosed in the present application are described above, the descriptions are only for the convenience of understanding the present application, and are not intended to limit the present application. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the appended claims.
Claims (8)
1. A method of testing an instrument, the method comprising:
sending a test command to a driving device through a control device, wherein the test command comprises a clamping performance test command and an opening and closing angle test command, the clamping performance test command comprises a clamping force preset value, and the opening and closing angle test command comprises an opening and closing angle preset value;
driving an instrument to be tested to perform corresponding test operation by using the driving device according to the received test command, wherein the test operation comprises clamping operation and opening and closing operation;
detecting the opening and closing angle of the to-be-tested instrument during opening and closing operation by using an opening and closing angle measurer in the driving device, and sending an opening and closing angle measured value to the control device;
detecting the clamping force generated by the clamping operation of the instrument to be tested by using a force measuring device, and sending a measured value of the clamping force to the control device;
judging whether the clamping performance of the to-be-tested instrument is qualified or not by comparing the clamping force measured value with the clamping force preset value by utilizing the control device, and judging whether the opening and closing angle of the to-be-tested instrument is qualified or not by comparing the opening and closing angle measured value with the opening and closing angle preset value;
the test commands further comprise a backlash error test command, a backlash error measured value is obtained according to the backlash error measurement command, and the control device is used for judging whether the backlash performance of the instrument is qualified or not by comparing the received backlash error measured value with a backlash error preset value.
2. The device testing method of claim 1,
the step of judging whether the clamping performance of the to-be-tested instrument is qualified by comparing the clamping force measured value with the clamping force preset value comprises the following steps:
comparing the difference between the clamping force measured value and the clamping force preset value with a preset clamping force threshold range, and judging that the clamping performance of the to-be-tested instrument is qualified when the difference is within the preset clamping force threshold range;
the judging whether the opening and closing angle of the to-be-tested instrument is qualified or not by comparing the opening and closing angle measured value with the opening and closing angle preset value comprises the following steps:
and comparing the difference value between the opening and closing angle measured value and the opening and closing angle preset value with a preset opening and closing angle threshold range, and judging that the opening and closing angle of the to-be-tested instrument is qualified when the difference value is within the preset opening and closing angle threshold range.
3. The device testing method of claim 1,
the test command further comprises a turning test command, the turning test command comprises a turning angle preset value, and the method further comprises the following steps:
driving the to-be-tested instrument to perform bending operation by using the driving device according to the received bending test command sent by the control device;
detecting the bending angle of the to-be-tested instrument during bending operation by using a bending angle measurer in the driving device, and sending a measured value of the bending angle to the control device;
and judging whether the turning performance of the instrument to be tested is qualified or not by comparing the turning angle measured value with the turning angle preset value by utilizing the control device.
4. The device testing method of claim 1,
the test command further comprises a rotation test command, the rotation test command comprises a rotation angle preset value, and the method further comprises the following steps:
driving the to-be-tested instrument to rotate by using the driving device according to the received rotation test command sent by the control device;
detecting a rotation angle of the to-be-tested instrument during rotation operation by using a rotation angle measurer in the driving device, and sending a rotation angle measurement value to the control device;
and judging whether the rotation performance of the instrument to be tested is qualified or not by comparing the rotation angle measured value with the rotation angle preset value by utilizing the control device.
5. The device testing method of claim 1,
the test command further includes a response time test command including a type of a target motor, wherein the target motor includes at least one of a chucking motor, a bending motor, and a rotating motor, and the method further includes:
recording the moment when the drive device receives the response time test command as a first moment, recording the moment when the target motor starts to execute the response time test command as a second moment, taking the difference value between the second moment and the first moment as a response time measured value of the target motor, and sending the response time measured value to the control device;
and comparing the received response time measured value with a pre-stored response time preset value by using the control device to judge whether the response performance of the target motor is qualified.
6. The device testing method of claim 1,
the backlash error test command comprises the type of a target motor, a preset rotating angle of the target motor and a preset driver rotating angle of a driver corresponding to the preset rotating angle, wherein the target motor comprises at least one of a clamping motor, a bending motor and a rotating motor, and the method further comprises the following steps:
after the driving device drives the target motor to rotate by the preset rotation angle, detecting the rotation angle of a driver connected with the target motor; taking the difference value between the angle and the preset actuator rotation angle of the actuator as a backlash error, and sending the measured value of the backlash error to the control device;
and comparing the received idle return error measured value with an idle return error preset value corresponding to the target motor by using the control device to judge whether the idle return performance of the target motor is qualified.
7. The instrument testing method of claim 1, further comprising:
detecting real-time position information of a target motor in the driving device, and sending the real-time position information to the control device, wherein the target motor comprises at least one of a clamping motor, a bending motor and a rotating motor;
and determining a difference value between the preset position information and the real-time position information of the target motor by using the control device, generating a position adjusting instruction according to the difference value, and sending the position adjusting instruction to the driving device, so that the driving device adjusts the position of the target motor according to the difference value, and the real-time position information of the target motor is consistent with the preset position information.
8. The instrument testing method of claim 1, further comprising:
and judging the type of the instrument to be tested by using the control device according to the obtained instrument parameters of the instrument to be tested, and calling a corresponding test command according to the type of the instrument to be tested.
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