CN216207466U - Endoscope is with transmission coefficient stability testing arrangement hard - Google Patents
Endoscope is with transmission coefficient stability testing arrangement hard Download PDFInfo
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Abstract
The utility model relates to a force transfer coefficient stability testing device for an endoscope, which belongs to the technical field of medical instrument detection equipment and comprises a testing platform and a testing host machine, wherein the testing platform and the testing host machine extend leftwards and rightwards, an input module and an output module are respectively arranged on the left side and the right side of the testing platform, the input module comprises a first force sensor movably arranged in a finger ring of a movable handle, the output module comprises a second force sensor arranged at a jaw, the first force sensor and the second force sensor are respectively connected with the testing host machine, and a positioning bulge for limiting the horizontal direction of a fixed handle is fixedly arranged on the testing platform. The utility model has the advantages that the utility model can limit the horizontal direction of the handle part, effectively prevent the handle part from shifting in the horizontal direction in the measuring process, and facilitate the stable force value measurement, thereby improving the stability and accuracy of the measurement.
Description
Technical Field
The utility model relates to a force transmission coefficient stability testing device for an endoscope, 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 the horizontal direction of the handle part can not be limited, when the movable end of the handle applies force along the horizontal direction, the handle part is easy to deviate in the horizontal direction, the measured force value is unstable, and the problems of poor measurement stability and accuracy and the like are caused.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a force transmission coefficient stability testing device for an endoscope, which solves the problems that in the prior art, because the horizontal direction of a handle part cannot be limited, when a movable end of the handle is applied with force along the horizontal direction, the handle part is easy to deviate in the horizontal direction, the measured force value is unstable, the stability and accuracy of measurement are poor, and the like.
The technical purpose of the utility model is mainly solved by the following technical scheme: the utility model provides an endoscope is transmission coefficient of exerting oneself and is stabilized testing arrangement for measure endoscope surgical instruments's transmission coefficient of force, endoscope surgical instruments includes movable handle, fixed handle, claw pole and two claws, testing arrangement includes testboard and the test host computer that extends about, the left and right sides is equipped with input module and output module respectively on the testboard, input module includes that the activity is placed at the intra-annular first force sensor of movable handle finger, output module is including setting up the second force sensor in claw department, first force sensor with second force sensor respectively with the test host computer links to each other, set firmly on the testboard and carry out spacing location arch to fixed handle horizontal direction.
When the device is used, an operator firstly horizontally places an endoscopic surgical instrument to be tested on the test board, adjusts the endoscopic surgical instrument to a proper position, then fixes the fixed handle through the matching between the positioning bulge and the fixed handle to realize the limit of the handle part of the endoscopic surgical instrument in the horizontal direction, then the operator acts the hand on the first force sensor to slide on the test board, and horizontally applies force to the movable handle through the detection end of the first force sensor, and the first force sensor applies an input force value F at the movable handleiThe output force value F of the jaw is transmitted to a test host machine by a second force sensor0Transmitting the force values to a testing host, and synchronously processing the input force values F at the movable handle by the testing hostiAnd the output force value F at the jaw0Obtaining F through least square fitting of data information0/FiThe value is the force transmission coefficient, the utility model realizes the limit of the handle part in the horizontal direction by limiting the horizontal direction of the fixed handle, and can effectively prevent the handle part from shifting in the horizontal direction in the measuring process so as to measure the stable force value, thereby improving the stability and the accuracy of the measurement.
Preferably, the positioning bulge extends vertically upwards, and the shape of the positioning bulge is matched with the inner shape of a finger ring on the fixed handle; through setting up the location arch to vertical upwards extending, the interior shape looks adaptation of the bellied appearance of location and 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 the protruding ring hole of location and the fixed handle, operating personnel is to the movable handle application of force when being convenient for test, can realize simultaneously that endoscopic surgery apparatus's handle portion is spacing on the horizontal direction, can prevent effectively that the horizontal direction's skew takes place for handle portion in the test procedure, so that carry out stable output force value and measure.
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 the shape of an elliptical table, the cross section area of the positioning bulge is gradually increased from top to bottom, the positioning bulge is convenient to enter the inner hole of the ring on the fixed handle to position the ring, and meanwhile, the endoscope surgical instrument is convenient to mount and dismount.
Preferably, the test board is fixedly provided with a pressing module for limiting the vertical direction of the fixed handle, and the pressing module comprises a pressing head capable of ascending and descending up and down; through set firmly be used for carrying out spacing the module that compresses tightly to fixed handle vertical direction on the testboard, compress tightly the module including the pressure head of ability oscilaltion for when placing the endoscopic surgery apparatus level that awaits measuring on the testboard, can push down fixed handle through the pressure head, thereby can realize that the handle portion of endoscopic surgery apparatus is spacing on the vertical direction, so that carry out stable power value and measure, reduce the interference.
Preferably, the number of the second force sensors is two, the two second force sensors are arranged at intervals in a front-back manner and are symmetrically arranged, the two second force sensors can adjust the front-back position and the angle position, the measuring ends of the two second force sensors are respectively opposite to the outer ends of the corresponding jaws, and pull rings are respectively detachably fixed on the measuring ends of the two second force sensors; the number of the second force sensors is set to be two, the two second force sensors are arranged at the front and back intervals and symmetrically, the two second force sensors can adjust the front and back positions and the angle position, the measuring ends of the two second force sensors are respectively opposite to the outer ends of the corresponding jaws, and the measuring ends of the two second force sensors are respectively detachably fixed with pull rings, so that the output force values F of the two jaws can be respectively measured by the second force sensors during measurement01And F02And transmitted to the test host, which can be aligned 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 force transfer coefficient, when the difference is larger than 1N, the information is displayed through a display screen of the test host, and the operator is prompted 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 F0Therefore, the measuring error can be ensured to be in a reasonable range, and the measuring stability and accuracy can be further improved; in addition, the closing force transmission coefficient can be measured independently through the pull ring, and the opening force transmission coefficient can be measured independently by detaching the pull ring, so that the opening force transmission coefficient and the closing force transmission coefficient can be measured respectively, and the service performance of the endoscopic surgical instrument can be better reflected.
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 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.
Therefore, the utility model has the advantages that the utility model can limit the horizontal direction of the handle part, effectively prevent the handle part from shifting in the horizontal direction in the measuring process, and conveniently measure the force value stably, thereby improving the stability and accuracy of measurement.
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 utility model;
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 utility model 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; 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 bearing groove; 23. avoiding the groove.
Detailed Description
The technical scheme of the utility model is further specifically described by the following embodiments and the accompanying drawings.
As shown in fig. 2, 4 and 6, the endoscope force application transmission coefficient stability testing device provided by the utility model is used for measuring a force transmission coefficient of an endoscope 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 table 1 and a testing host 2, the testing table 1 extends left and right, a positioning protrusion 16 used for limiting the fixed handle in the horizontal direction is fixedly arranged on the testing table 1, the positioning protrusion 16 extends vertically and upwards, 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 in an elliptical table shape, the cross section area of the positioning protrusion 16 is gradually increased from top to bottom, the testing table 1 is provided with an avoiding groove 23 located at the rear side of the positioning protrusion 16, and the avoiding groove 23 penetrates through the upper end and the lower end of the testing table 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, which can also be 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 and pass 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 test platform 1 are respectively provided with an input module 3 and an output module 4, the input module 3 includes a first force sensor 5 movably disposed in a finger ring of the movable handle, the output module 4 includes a second force sensor 6 disposed at the jaw, the number of the second force sensors 6 is two, the two second force sensors 6 are symmetrically disposed at a front-back interval, the two second force sensors 6 can adjust the front-back position and the angle position, the measuring ends of the two second force sensors 6 are respectively opposite to the outer ends of the corresponding jaws, the measuring ends of the two second force sensors 6 are respectively detachably fixed with a pull ring 8, the pull ring 8 is in a shape of a Chinese character 'hui', the detachable connection mode is a threaded connection, and the first force sensor 5 and the second force sensor 6 are respectively connected with the test host 2.
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 of the two second force sensors 6 far away from each other, each set of supporting members 9 includes a sliding seat 10 slidably disposed on the test platform 1, a vertically and upwardly extending supporting plate 11 is formed at the inner end of the sliding seat 10, the inner end of the supporting 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 supporting plate 11, the sliding seat 10 has a strip-shaped hole 12 penetrating through the upper and lower ends thereof, the strip-shaped hole 12 extends in the front-back direction, a limiting rod 14 is movably disposed in the strip-shaped hole 12, one end of the limiting rod 14 extends into the test platform 1 from the bottom of the strip-shaped hole 12 and is in threaded fit therewith, the other end of the limiting rod 14 extends out from the top of the strip-shaped hole 12 and is fixedly connected with a fixing sleeve 15 abutted to the upper surface of the sliding seat 10.
In the specific implementation of this embodiment, the operator first horizontally places the endoscopic surgical instrument to be tested on the test board 1, and adjusts the endoscopic surgical instrument to a suitable position, so that the positioning protrusion 16 is clamped into the finger ring on the fixed handle, the clamping bar is located in the avoiding groove 23 and the supporting groove 22, the pressing head 20 is controlled to descend to press the endoscopic surgical instrument on the test board 1, and then the two jaws are symmetrically openedThe two force sensors 6 respectively penetrate through inner holes of pull rings 8, the front position, the rear position and the angle position of the two second force sensors 6 are respectively adjusted by loosening the fixing sleeve 15, the hole wall of the inner hole of each pull ring 8 is attached to the inner end of the corresponding jaw, the fixing sleeve 15 is screwed after adjustment, an operator acts a hand on the first force sensor 5, force is applied to the movable handle through the detection end of the first force sensor 5, the movable handle tends to rotate anticlockwise, the two jaws can have a closing trend, and the input force value F at the position of the movable handle is applied by the first force sensor 5iTransmitted to the test mainframe 2, the second force sensor 6 transmits two output force values F at the two jaws01And 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, the movable handle is forced to rotate clockwise by the detection end of the first force sensor 5, the two jaws can be opened, and the first force sensor 5 applies an input force value F at the movable handleiTransmitted to the test mainframe 2, the second force sensor 6 transmits two output force values F at the two jaws01And 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 between the two 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。
The utility model has the advantages that the utility model can limit the horizontal direction of the handle part, effectively prevent the handle part from shifting in the horizontal direction in the measuring process, and facilitate the stable force value measurement, thereby improving the stability and accuracy of the measurement.
Claims (10)
1. The utility model provides an endoscope is with stable testing arrangement of transmission coefficient for measure endoscopic surgery apparatus's transmission coefficient of force, endoscopic surgery apparatus includes movable handle, fixed handle, claw pole and two claws, its characterized in that: the testing device comprises a testing platform (1) and a testing host (2) which extend leftwards and rightwards, an input module (3) and an output module (4) are respectively arranged on the left side and the right side of the testing platform (1), the input module (3) comprises a first force sensor (5) which is movably arranged in a movable handle finger ring, the output module (4) comprises a second force sensor (6) which is arranged at a jaw, the first force sensor (5) and the second force sensor (6) are respectively connected with the testing host (2), and a positioning bulge (16) for limiting the horizontal direction of a fixed handle is fixedly arranged on the testing platform (1).
2. The endoscope force transmission coefficient stability testing device of claim 1, wherein: the positioning bulge (16) vertically extends upwards, and the shape of the positioning bulge (16) is matched with the inner shape of the finger ring on the fixed handle.
3. The endoscope force transmission coefficient stability test device according to claim 1 or 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. The endoscope force transmission coefficient stability test device according to claim 1 or 2, wherein: the test bench (1) is fixedly provided with a pressing module (19) used for limiting the vertical direction of the fixed handle, and the pressing module (19) comprises a pressing head (20) capable of ascending and descending.
5. The endoscope force transmission coefficient stability test device according to claim 1 or 2, wherein: the number of the second force sensors (6) is two, the second force sensors (6) are arranged in a front-back interval and symmetrically, the second force sensors (6) can be adjusted in front-back position and angle position, the measuring ends of the second force sensors (6) are opposite to the outer ends of the corresponding jaws respectively, and the measuring ends of the second force sensors (6) are detachably fixed with pull rings (8) respectively.
6. The endoscope force transmission coefficient stability test device according to claim 1 or 2, 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).
7. The endoscope force transmission coefficient stability testing device of claim 6, 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.
8. The endoscope force transmission coefficient stability test device according to claim 1 or 2, wherein: the test bench (1) is provided with an avoiding groove (23) which is positioned at the rear side of the positioning protrusion (16), and the avoiding groove (23) penetrates through the upper end and the lower end of the test bench (1).
9. The endoscope force transmission coefficient stability test device according to claim 5, 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.
10. The apparatus for testing endoscope force transmission coefficient stability of claim 9, 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.
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| CN113702020A (en) * | 2021-09-01 | 2021-11-26 | 浙江微度医疗器械有限公司 | Endoscopic surgery instrument force transmission coefficient testing arrangement |
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