CN113702020A - Endoscopic surgery instrument force transmission coefficient testing arrangement - Google Patents
Endoscopic surgery instrument force transmission coefficient testing arrangement Download PDFInfo
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- CN113702020A CN113702020A CN202111018405.4A CN202111018405A CN113702020A CN 113702020 A CN113702020 A CN 113702020A CN 202111018405 A CN202111018405 A CN 202111018405A CN 113702020 A CN113702020 A CN 113702020A
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- 238000012360 testing method Methods 0.000 title claims abstract description 100
- 230000005540 biological transmission Effects 0.000 title claims description 26
- 238000002674 endoscopic surgery Methods 0.000 title claims description 10
- 210000000078 claw Anatomy 0.000 claims description 6
- 230000001174 ascending effect Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims 2
- 238000010168 coupling process Methods 0.000 claims 2
- 238000005859 coupling reaction Methods 0.000 claims 2
- 238000005259 measurement Methods 0.000 abstract description 16
- 238000001514 detection method Methods 0.000 abstract description 8
- 230000000149 penetrating effect Effects 0.000 description 6
- 238000012935 Averaging Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 210000000080 chela (arthropods) Anatomy 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
Abstract
The invention relates to a force transfer coefficient testing device of an endoscopic surgical instrument, which belongs to the technical field of medical instrument detection equipment and comprises a test bench and a test host, wherein an input module and an output module are respectively arranged on the left side and the right side of the test bench, the input module comprises a first force sensor, the output module at least comprises two second force sensors, the two second force sensors can adjust the front position and the back position and the angle position, an accommodating space is formed between the measuring ends of the two second force sensors, and pull rings are respectively detachably fixed on the measuring ends of the two second force sensors. The invention can judge the measurement error by analyzing the difference between the two output force values, and can ensure that the measurement error is in a reasonable range by adjusting the position of the second force sensor, thereby greatly improving the stability and the accuracy of the measurement.
Description
Technical Field
The invention relates to a force transmission coefficient testing device for an endoscopic surgical instrument, and belongs to the technical field of medical instrument detection equipment.
Background
Endoscopic surgical instruments are widely applied in minimally invasive surgery, and endoscopic surgical forceps are commonly used. The endoscope operation forceps are different from common operation instruments in that the operation is carried out in a long and narrow pipeline, the operation belongs to remote operation, and the relation between the input and the output of the endoscope operation forceps is more complicated than that of the common operation instruments. The force transmission coefficient is the ratio of the force value input at the handle to the force value output by the forceps head, and reflects the forceful hand feeling of a doctor in clinic. The traditional Chinese patent number is 201910477727.1, the patent name is an endoscopic surgery clamp force transfer coefficient testing device, and discloses an endoscopic surgery clamp force transfer coefficient testing device which comprises a force applying module arranged at a handle, a first force sensor clamp module, a second force sensor arranged at a clamp head, a second force sensor clamp module and a data module. It also has the following disadvantages: because two output force values can be produced to two pincers claws in the binding clip, regard one of them output force value as binding clip output force value simply for the error of measurement is difficult to judge, leads to the poor scheduling problem of measured stability and accuracy.
Disclosure of Invention
The invention aims to provide a device for testing a mechanical force transmission coefficient of an endoscopic surgery, which solves the problems that in the prior art, two output force values are generated by two jaws in a forceps head, and one of the output force values is simply used as the output force value of the forceps head, so that the measurement error is difficult to judge, the measurement stability and accuracy are poor, and the like.
The technical purpose of the invention is mainly solved by the following technical scheme: a force transmission coefficient testing device of an endoscopic surgical instrument is used for measuring the force transmission coefficient of the endoscopic surgical instrument, the endoscope surgical instrument comprises a movable handle, a fixed handle, a clamp rod and two clamp claws, the testing device comprises a testing platform and a testing host which extend leftwards and rightwards, the left side and the right side of the test board are respectively provided with an input module and an output module, the input module comprises a first force sensor movably arranged on the test board, the output module at least comprises two second force sensors which are symmetrically arranged at a front-back interval, the two second force sensors can adjust front-back positions and angle positions, an accommodating space for two clamping claws to extend into is formed between measuring ends of the two second force sensors, measuring ends of the two second force sensors are detachably fixed with pull rings respectively, and the first force sensor and the second force sensor are connected with the test host respectively.
When the device is used, an operator firstly horizontally places the endoscopic surgical instrument to be tested on the test board, and two claws of the endoscopic surgical instrument extend into the accommodating space, and the two claws are symmetrically opened and respectively pass through the inner holes of the pull ring, then respectively adjusting the front and back positions and the angle positions of the two second force sensors to ensure that the hole wall of the inner hole of the pull ring is jointed with the inner end of the corresponding jaw, then manually placing the first force sensor in the finger ring of the movable handle, the operator inserting the finger into the finger ring of the fixed handle and fixing it, then the hand is acted on the first force sensor, the detection end of the first force sensor applies force to the movable handle to enable the movable handle to have the tendency of counterclockwise rotation, thereby enabling the two jaws to have a tendency to close, the first force sensor will input a force value F at the movable handle.iTransmitted to a test host, and a second force sensor is used for measuring two output force values F at the binding clip01And F02Transmitting the force value to a testing host, wherein the output force value is a closing force value perpendicular to the opening angle bisector direction of the two jaws, and the testing host is paired with F01And F02Analyzing to determine whether the difference is greater than 1N, and if the difference is less than 1N, F01And F02Averaging to yield F0Then obtaining F through least square fitting0/FiThe value is the closing force transfer coefficient, when the difference is larger than 1N, the display screen of the test host computer displays information to prompt an operator to adjust the position of the second force sensor until F01And F02The difference between them is less than 1N, and then the average value is obtained to obtain F0；
After the measurement is finished, the pull ring is detached, and the front position, the rear position and the angle position of the two second force sensors are respectively adjusted to enable the second force sensors to be in the second positionThe detection end of the force sensor is attached to the outer end of the corresponding jaw, the steps are repeated, the movable handle is forced to have a clockwise rotation trend by the detection end of the first force sensor, so that the two jaws can have an opening trend, and the first force sensor enables the input force value F at the position of the movable handle to be larger than the input force value FiThe force values are transmitted to a testing host, the output force value is an opening force value perpendicular to the direction of the opening angle bisector of the two jaws, and the second force sensor transmits two output force values F at the jaw head01And F02Transmitting to test host, and testing host pair F01And F02Analyzing to determine whether the difference is greater than 1N, and if the difference is less than 1N, F01And F02Averaging to yield F0Then obtaining F through least square fitting0/FiThe value is the spreading force transfer coefficient, when the difference is larger than 1N, the display screen of the test host machine displays information to prompt an operator to adjust the position of the second force sensor until F01And F02The difference between them is less than 1N, and then the average value is obtained to obtain F0(ii) a The invention takes the average value of the two output force values generated by the forceps head as the output force value of the forceps head, can judge the measurement error by analyzing the difference value between the two output force values, and can ensure that the measurement error is in a reasonable range by adjusting the position of the second force sensor, thereby greatly improving the stability and the accuracy of measurement.
Preferably, a positioning bulge for positioning and fixing the handle is fixedly arranged on the test board, the positioning bulge extends vertically upwards, and the shape of the positioning bulge is matched with the inner shape of a ring on the fixed handle; through set firmly the location arch that is used for fixing a position fixed handle on the testboard, the protruding vertical upwards extension of location, the bellied appearance of location and the interior shape looks adaptation of the ring on the fixed handle, when making the endoscopic surgery apparatus level that will await measuring place on the testboard, can fix fixed handle through the cooperation between protruding and the fixed handle last ring hole of location, operating personnel is to the movable handle application of force during the test of being convenient for, can realize the location of the handle portion on the horizontal direction of endoscopic surgery apparatus simultaneously.
Preferably, the positioning protrusion is in an elliptical truncated shape, and the cross-sectional area of the positioning protrusion gradually increases from top to bottom; the positioning bulge is arranged to be in an elliptical table shape, the cross section area of the positioning bulge is gradually increased from top to bottom, and the positioning bulge is convenient to enter the inner hole of the ring on the fixed handle to position the ring.
Preferably, the test board is fixedly provided with two positioning strips which are arranged at intervals in the front-back direction, the tops of the inner ends, close to each other, of the two positioning strips are provided with curved surfaces, the two positioning strips extend in parallel in the left-right direction, and a positioning groove for the clamp rod to pass through in a sliding manner is formed between the two positioning strips; through set firmly the location strip that two front and back intervals set up on the testboard, the inner top that two location strips are close to each other sets up to the curved surface, two location strips are along left right direction parallel extension, be formed with the constant head tank that supplies the tong rod to slide to pass between two location strips, when making the endoscope surgical instruments level that will await measuring place on the testboard, the tong rod of endoscope surgical instruments can put into the constant head tank, thereby can realize the location of tong rod in front and back direction, so that test, the inner curved surface of location strip can play the effect of direction in addition, be convenient for put into the constant head tank with the tong rod.
Preferably, a pressing module used for limiting the endoscope surgical instrument in the vertical direction is fixedly arranged on the test board, and the pressing module comprises a pressing head capable of lifting up and down; through set firmly being used for carrying out spacing compressing tightly the module to endoscope operation apparatus vertical direction on the testboard, compress tightly the module including the pressure head that can the oscilaltion for when placing the endoscope operation apparatus level that awaits measuring on the testboard, can push down the endoscope operation apparatus that awaits measuring through the pressure head, thereby can realize the ascending location of endoscope operation apparatus vertical direction, so that carry out stable power value and measure, reduce the interference.
Preferably, a cushion block positioned on the right side of the positioning strip is fixedly arranged on the test board, a concave supporting groove is arranged at the top of the cushion block, the supporting groove penetrates through the left end and the right end of the cushion block, and the longitudinal section of the supporting groove is U-shaped; through set firmly the cushion that is located the locating bar right side on the testboard, the cushion top is equipped with recessed bearing groove, and bearing groove runs through both ends about the cushion, and the U type is personally submitted to bearing groove's rip cutting, can carry out the bearing to the tong pole in binding clip department through bearing groove, can effectively avoid rocking because the length overlength of tong pole takes place to carry out stable output value and measure, can also further realize the location of tong pole in the fore-and-aft direction simultaneously.
Preferably, the test board is provided with an avoiding groove positioned at the rear side of the positioning protrusion, and the avoiding groove penetrates through the upper end and the lower end of the test board; the avoidance groove located on the rear side of the positioning protrusion is arranged in the test board, and the avoidance groove penetrates through the upper end and the lower end of the test board, so that other components on the endoscopic surgical instrument can be avoided, the endoscopic surgical instrument can be horizontally placed, and the test is convenient.
Preferably, the output module further comprises two sets of supporting members for fixedly supporting the two second force sensors respectively, the two sets of supporting members are indirectly or directly supported on the test bench in a sliding manner, and the two sets of supporting members are located at outer ends, far away from each other, of the two second force sensors respectively; through still being equipped with two sets of support piece that are used for two fixed support second force sensors respectively at output module, two sets of support piece are supported on the testboard by indirect or direct slip, two sets of support piece are located the outer end that two second force sensors kept away from each other respectively, make the position that can adjust second force sensor through adjusting support piece's position, so that test respectively opens power transmission coefficient and closure power transmission coefficient, be convenient for simultaneously guarantee that the measuring error is in reasonable within range, and two second force sensors's position can be adjusted alone, convenient to use.
Preferably, each support member comprises a sliding seat arranged on the test board in a sliding manner, a supporting plate extending vertically and upwardly is formed at the inner end of the sliding seat, the inner end of the supporting plate is fixedly connected with the corresponding non-measuring end of the second force sensor, the sliding seat is provided with a strip-shaped hole penetrating through the upper end and the lower end of the sliding seat, the strip-shaped hole extends along the front-back direction, a limiting rod is movably arranged in the strip-shaped hole in a penetrating manner, one end of the limiting rod extends into the test board from the bottom of the strip-shaped hole and is in threaded fit with the test board, and the other end of the limiting rod extends out of the top of the strip-shaped hole and is fixedly connected with a fixed sleeve abutted against the upper surface of the sliding seat; a sliding seat positioned on a test board is arranged in a support piece, a supporting plate extending vertically upwards is formed at the inner end of the sliding seat, the inner end of the supporting plate is fixedly connected with a non-measuring end of a corresponding second force sensor, the sliding seat is provided with a strip-shaped hole penetrating through the upper end and the lower end of the sliding seat, the strip-shaped hole extends along the front-back direction, a limiting rod is movably arranged in the strip-shaped hole in a penetrating way, one end of the limiting rod extends into the test board from the bottom of the strip-shaped hole and is in threaded fit with the test board, the other end of the limiting rod extends out from the top of the strip-shaped hole and is fixedly connected with a fixed sleeve abutted against the upper surface of the sliding seat, when the position of the second force sensor needs to be adjusted, an operator can rotate the fixed sleeve to enable the limiting rod to be screwed out from the test bench upwards, so that the fixed sleeve is separated from and abutted against the upper surface of the sliding seat, the operator can then manually adjust the fore-aft and angular positions of the carriage, thereby adjusting the fore-aft and angular positions of the second force sensor.
Preferably, the second force sensor is detachably connected with the supporting plate; through set up to be connected for dismantling between second force transducer and the backup pad, be convenient for maintain the second force transducer and change.
Therefore, the average value of the two output force values generated by the forceps head is used as the output force value of the forceps head, the measurement error can be judged by analyzing the difference value between the two output force values, and the measurement error can be ensured to be in a reasonable range by adjusting the position of the second force sensor, so that the measurement stability and accuracy can be greatly improved, in addition, the opening force transmission coefficient and the closing force transmission coefficient can be respectively measured, and the use performance of the endoscopic surgical instrument can be better reflected.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic structural diagram of an operating state of the test closing force transmission coefficient of the invention;
FIG. 3 is an enlarged schematic view of the structure of FIG. 2 at A in accordance with the present invention;
FIG. 4 is a structural diagram of the working state of the invention for testing the transmission coefficient of the opening force;
FIG. 5 is an enlarged schematic view of the structure of FIG. 4 at B in accordance with the present invention;
FIG. 6 is a perspective view of a positioning protrusion according to the present invention;
FIG. 7 is a schematic view showing the arrangement of the lock bar according to the present invention;
FIG. 8 is a schematic cross-sectional view of the spacer of the present invention.
The scores in the figures are as follows: 1. a test bench; 2. a test host; 3. an input module; 4. an output module; 5. a first force sensor; 6. a second force sensor; 7. an accommodating space; 8. a pull ring; 9. a support member; 10. a slide base; 11. a support plate; 12. a strip-shaped hole; 14. a limiting rod; 15. fixing a sleeve; 16. positioning the projection; 17. a positioning bar; 18. positioning a groove; 19. a compression module; 20. a pressure head; 21. cushion blocks; 22. a support groove.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
As shown in fig. 2, 4 and 6, the force transfer coefficient testing device for the endoscopic surgical instrument according to the present invention is used for measuring the force transfer coefficient of the endoscopic surgical instrument, the endoscopic surgical instrument includes a movable handle, a fixed handle, a clamp bar and two jaws, the testing device includes a testing platform 1 and a testing host 2 extending from left to right, a positioning protrusion 16 for positioning the fixed handle is fixedly arranged on the testing platform 1, the positioning protrusion 16 extends vertically and upwardly, the shape of the positioning protrusion 16 is matched with the inner shape of a ring on the fixed handle, the positioning protrusion 16 is configured in an elliptical platform shape, the cross-sectional area of the positioning protrusion 16 is gradually increased from top to bottom, the testing platform 1 has an avoiding groove 18 located at the rear side of the positioning protrusion 16, and the avoiding groove 18 penetrates through the upper end and the lower end of the testing platform 1.
As shown in fig. 2, fig. 7 and fig. 8, two positioning strips 17 arranged at a front-back interval are fixedly arranged on a test bench 1, the top of the inner end, close to each other, of the two positioning strips 17 is set to be a curved surface or an inclined surface, the two positioning strips 17 extend in parallel in the left-right direction, the vertical height of each positioning strip 17 is greater than the diameter of a clamping rod, a positioning groove 18 for the clamping rod to slide through is formed between the two positioning strips 17, a pressing module 19 for limiting the vertical direction of an endoscopic surgical instrument is fixedly arranged on the test bench 1, the pressing module 19 comprises a pressing head 20 capable of ascending and descending, a cushion block 21 positioned on the right side of each positioning strip 17 is fixedly arranged on the test bench 1, a recessed bearing groove 22 is arranged at the top of the cushion block 21, the bearing groove 22 penetrates through the left end and the right end of the cushion block 21, and the longitudinal section of the bearing groove 22 is U-shaped.
As shown in fig. 1, fig. 3 and fig. 5, the left and right sides of the testing platform 1 is provided with an input module 3 and an output module 4 respectively, the input module 3 includes a first force sensor 5 movably disposed on the testing platform 1, the output module 4 includes at least two second force sensors 6 symmetrically disposed at a front and back interval, the two second force sensors 6 can adjust the front and back positions and the angle position, an accommodating space 7 for the two claws to extend into is formed between the measuring ends of the two second force sensors 6, the measuring ends of the two second force sensors 6 are detachably fixed with pull rings 8 respectively, the pull rings 8 are in a shape like a Chinese character 'hui', the detachable connection mode is threaded connection, and the first force sensor 5 and the second force sensor 6 are connected with the testing host 2 respectively.
As shown in fig. 3 and 5, the output module 4 further includes two sets of supporting members 9 respectively used for fixedly supporting the two second force sensors 6, the two sets of supporting members 9 are indirectly or directly slidably supported on the test platform 1, the two sets of supporting members 9 are respectively located at outer ends where the two second force sensors 6 are far away from each other, each set of supporting member 9 includes a sliding seat 10 slidably disposed on the test platform 1, a vertical support plate 11 extending upwards is formed at an inner end of the sliding seat 10, an inner end of the support plate 11 is fixedly connected with a non-measuring end of the corresponding second force sensor 6, the second force sensor 6 is detachably connected with the support plate 11, the sliding seat 10 has a strip-shaped hole 12 penetrating through upper and lower ends thereof, the strip-shaped hole 12 extends in the front-back direction, a limit rod 14 is movably disposed in the strip-shaped hole 12 in a penetrating manner, one end of the limit rod 14 extends into the test platform 1 from the bottom of the strip-shaped hole 12 and is in threaded engagement therewith, and the other end of the limit rod 14 extends out from the top of the strip-shaped hole 12 and is fixedly connected with a fixing sleeve 15 abutting against the upper surface of the sliding seat 10.
In the specific implementation of this embodiment, an operator first horizontally places an endoscopic surgical instrument to be tested on the test board 1, and extends two jaws of the endoscopic surgical instrument into the accommodating space 7, so that the positioning protrusions 16 are clamped into the finger rings on the fixed handle, so that the clamp lever is located in the avoiding groove 18 and the supporting groove 22, the pressure head 20 is controlled to descend to press the endoscopic surgical instrument on the test board 1, then the two jaws are symmetrically opened and respectively pass through the inner holes of the pull ring 8, then the front and back positions and the angular positions of the two second force sensors 6 are respectively adjusted by loosening the fixing sleeves 15, so that the hole wall of the inner hole of the pull ring 8 is attached to the inner ends of the corresponding jaws, after adjustment, the fixing sleeves 15 are screwed, then the first force sensor 5 is manually placed in the finger ring of the movable handle, the operator applies a hand to the first force sensor 5, and applies a force to the movable handle through the detection end of the first force sensor 5 so that the movable handle has a tendency of counterclockwise rotation, thereby enabling the two jaws to have a tendency to close, the first force sensor 5 applying a force value F to the input force at the movable handleiTransmitted to the test host 2, and the second force sensor 6 is used for measuring two output force values F at the binding clip01And F02The force is transmitted to a testing host machine 2, at the moment, the output force value is a closing force value perpendicular to the direction of the opening angle bisector of the two jaws, and the testing host machine 2 is used for F pairs01And F02Analyzing to determine whether the difference is greater than 1N, and if the difference is less than 1N, F01And F02Averaging to yield F0Then obtaining F through least square fitting0/FiThe value is the closing force transfer coefficient, when the difference is larger than 1N, the display screen of the test host machine 2 displays information to prompt an operator to adjust the position of the second force sensor 6 until F01And F02The difference between them is less than 1N, and then the average value is obtained to obtain F0；
After the closing force transfer coefficient is measured, the pull ring 8 is detached, the front position, the rear position and the angle position of the two second force sensors 6 are respectively adjusted, the detection ends of the second force sensors 6 are attached to the outer ends of the corresponding jaws, the steps are repeated, and the movable hand is operated through the detection end of the first force sensor 5The handle is forced to have a clockwise rotation tendency, so that the two jaws can have an opening tendency, and the first force sensor 5 is used for inputting a force value F at the movable handleiTransmitted to the test host 2, and the second force sensor 6 is used for measuring two output force values F at the binding clip01And F02The force is transmitted to a testing host machine 2, the output force value is an opening force value perpendicular to the direction of the opening angle bisector of the two jaws at the moment, and the testing host machine 2 is F pairs01And F02Analyzing to determine whether the difference is greater than 1N, and if the difference is less than 1N, F01And F02Averaging to yield F0Then obtaining F through least square fitting0/FiThe value is the spreading force transfer coefficient, when the difference is larger than 1N, the display screen of the test host machine 2 displays information to prompt an operator to adjust the position of the second force sensor 6 until F01And F02The difference between them is less than 1N, and then the average value is obtained to obtain F0。
According to the invention, the average value of the two output force values generated by the forceps head is used as the forceps head output force value, the measurement error can be judged by analyzing the difference value between the two output force values, and meanwhile, the measurement error can be ensured to be in a reasonable range by adjusting the position of the second force sensor, so that the measurement stability and accuracy can be greatly improved, in addition, the opening force transmission coefficient and the closing force transmission coefficient can be respectively measured, and the use performance of the endoscopic surgical instrument can be better reflected.
Claims (10)
1. The utility model provides an endoscopic surgery apparatus power transmission coefficient testing arrangement for measure endoscopic surgery apparatus's power transmission coefficient, endoscopic surgery apparatus includes movable handle, fixed handle, tong bar and two claws, its characterized in that: the testing device comprises a testing table (1) and a testing host (2) which extend left and right, the left side and the right side of the test board (1) are respectively provided with an input module (3) and an output module (4), the input module (3) comprises a first force sensor (5) movably placed on the test bench (1), the output module (4) at least comprises two second force sensors (6) which are arranged at intervals in a front-back manner and are symmetrically arranged, the two second force sensors (6) can adjust the front-back position and the angle position, an accommodating space (7) for two jaws to extend into is formed between the measuring ends of the two second force sensors (6), pull rings (8) are detachably fixed at the measuring ends of the two second force sensors (6) respectively, the first force sensor (5) and the second force sensor (6) are respectively connected with the testing host (2).
2. An endoscopic surgical instrument force transmission coefficient testing device according to claim 1, wherein: the test bench (1) is fixedly provided with a positioning bulge (16) used for positioning the fixed handle, the positioning bulge (16) vertically extends upwards, and the appearance of the positioning bulge (16) is matched with the inner shape of a ring on the fixed handle.
3. An endoscopic surgical instrument force transmission coefficient testing device according to claim 2, wherein: the positioning bulge (16) is in an elliptical table shape, and the cross section area of the positioning bulge (16) is gradually increased from top to bottom.
4. An endoscopic surgical instrument force transmission coefficient testing device according to claim 1, 2 or 3, wherein: the clamp rod positioning test platform is characterized in that two positioning strips (17) arranged at a front interval and a rear interval are fixedly arranged on the test platform (1), the top of the inner end, close to each other, of the positioning strips (17) is a curved surface, the two positioning strips (17) extend in parallel in the left-right direction, and positioning grooves (18) for the clamp rods to slide through are formed between the two positioning strips (17).
5. An endoscopic surgical instrument force transmission coefficient testing device according to claim 1, 2 or 3, wherein: the endoscope operation instrument vertical direction limiting device is characterized in that a pressing module (19) used for limiting the endoscope operation instrument in the vertical direction is fixedly arranged on the test bench (1), and the pressing module (19) comprises a pressing head (20) capable of ascending and descending.
6. An endoscopic surgical instrument force transmission coefficient testing device according to claim 4, wherein: the test bench (1) is fixedly provided with a cushion block (21) positioned on the right side of the positioning strip (17), the top of the cushion block (21) is provided with a concave supporting groove (22), the supporting groove (22) penetrates through the left end and the right end of the cushion block (21), and the longitudinal section of the supporting groove (22) is U-shaped.
7. An endoscopic surgical instrument force transmission coefficient testing device according to claim 1, 2 or 3, wherein: the test bench (1) is provided with an avoiding groove (18) which is positioned at the rear side of the positioning protrusion (16), and the avoiding groove (18) penetrates through the upper end and the lower end of the test bench (1).
8. An endoscopic surgical instrument force transmission coefficient testing device according to claim 1, 2 or 3, wherein: the output module (4) further comprises two groups of supporting pieces (9) which are used for fixedly supporting the two second force sensors (6) respectively, the two groups of supporting pieces (9) are indirectly or directly supported on the test bench (1) in a sliding mode, and the two groups of supporting pieces (9) are located at the outer ends, far away from each other, of the two second force sensors (6) respectively.
9. An endoscopic surgical instrument force transmission coefficient testing device according to claim 8, wherein: every group support piece (9) are located including sliding slide (10) on testboard (1), slide (10) the inner backup pad (11) that are formed with vertical upwards extension, backup pad (11) the inner with correspond the non-measuring end rigid coupling of second force sensor (6), slide (10) have bar hole (12) that run through its upper and lower both ends, bar hole (12) extend along the fore-and-aft direction, gag lever post (14) are worn to be equipped with in bar hole (12) internalization, gag lever post (14) one end is followed bar hole (12) bottom stretches into in testboard (1) and rather than screw-thread fit, gag lever post (14) other end is followed bar hole (12) top stretch out and the rigid coupling be equipped with fixed cover (15) of slide (10) upper surface butt.
10. An endoscopic surgical instrument force transmission coefficient testing device according to claim 9, wherein: the second force sensor (6) is detachably connected with the supporting plate (11).
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