The Netherlands striker endured an injury-plagued eight-year spell at Arsenal before joining Manchester United in 2012 and made just 21 appearances for the club last season, with groin and hamstring injuries repeatedly ruling him out of games.
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"I've been playing in pain for the last five or six years; every single game," he told reporters.
"I can't really think of one game where I didn't have a niggle or pain somewhere.
"I'm used to that. I know, together with the team and with the medical staff, how to deal with that.
"I'm the one who looks at that and manages it."
Van Persie was substituted during the Netherlands' World Cup warm-up win over Wales last week as a precaution but he has allayed fears that he could head to Brazil in an unfit state.
"You can't really even call it an injury," he insisted.
Van Persie and co will face Spain, Chile and Australia in Group B of the showpiece.