RESEARCH PAPER
Load-Dependent Wiener Degradation Modeling and Life Prediction of Wire-Driven Minimally Invasive Surgical Instruments
1
School of Mechanical Engineering, Tianjin University, China
2
School of management, Hefei University of Technology, China
3
State Key Laboratory of Intelligent Vehicle Safety Technology, Chongqing Changan Automobile CO., Ltd, China
These authors had equal contribution to this work
A – Conceptualization; B – Methodology; C – Software; D – Validation; E – Formal analysis; F – Investigation; G – Resources; H – Data curation; I – Writing – original draft; J – Writing – review & editing; K – Visualization; L – Supervision; M – Project administration; N – Funding acquisition
Submission date: 2026-07-03
Final revision date: 2026-10-05
Acceptance date: 2026-10-09
Online publication date: 2026-10-17
KEYWORDS
TOPICS
ABSTRACT
This paper investigates the fatigue degradation and life prediction of a wire-driven parallel mechanism for minimally invasive surgical instruments under different external loads. Fatigue tests are conducted under 0 N, 0.5 N, and 1 N loads, and the trajectory radius loss of the end-effector is selected as the degradation indicator. The results show that the degradation rate increases with load, and ANOVA confirms that the load effect is statistically significant. A load-dependent Wiener degradation model is then established to describe the stochastic process. Compared with the conventional Wiener model, the proposed model shows better fitting performance. Based on a soft failure threshold and the first-passage-time distribution of the Wiener process, reliability, lifetime distribution, and mean remaining life are analytically predicted. The results indicate that higher loads significantly shorten the service life of the mechanism. The proposed method provides a basis for reliability evaluation and maintenance decision-making of wire-driven minimally invasive surgical instruments.
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