Puncture needle driving and positioning device based on MRI brain tumor puncture surgical robot

Abstract

The utility model discloses a puncture needle driving and positioning device based on an MRI (Magnetic Resonance Imaging) brain tumor puncture surgical robot, which comprises an upper ball chain, a lower ball chain, an upper XY moving module, a lower XY moving module, an upper driving device and a lower driving device, the upper driving device and the lower driving device respectively drive the upper XY moving module and the lower XY moving module, the upper XY moving module and the lower XY moving module respectively drive the upper ball chain and the lower ball chain to move, and the upper ball chain and the lower ball chain drive the puncture needle cylinder to move. According to the puncture needle driving and positioning device of the robot, accurate displacement adjustment can be conducted on the puncture needle cylinder, and accurate positioning of the puncture needle and adjustment of the needle inserting angle of the puncture needle are achieved. According to the driving part, the stepping motor serves as a power source, the hydraulic cylinder serves as a transmission piece to drive the upper XY moving module and the lower XY moving module, and the problem that the stepping motor cannot be used in the nuclear magnetic environment is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of brain tumor puncture surgery equipment, in particular to a puncture needle driving and positioning device based on an MRI brain tumor puncture surgery robot. Background Art

[0002] Brain tumors are a major problem that affects the health of the nation, and research on conquering brain tumors has never stopped. In order to determine the nature of brain tumors (benign or malignant) and to determine the next treatment plan, a puncture biopsy of brain tumor tissue is required, and later minimally invasive treatment is performed based on the biopsy results. Due to the unique soft tissue resolution ability of Magnetic Resonance Imaging (MRI), its interventional percutaneous puncture surgery has become more and more popular. At present, MRI scanning is generally performed first, and then according to the MRI scanning, the staff determines the needle insertion position and needle insertion path, drills the head according to the needle insertion position, and then the staff performs manual puncture, and the puncture depth is completely controlled by the staff. This puncture method not only has low operating accuracy, so one puncture generally fails, and more than two punctures will not only cause damage to the patient's brain, but also take a long time and have high labor intensity.

[0003] With the rapid development of robotics in the medical field, image-guided minimally invasive brain surgery robots have become a research hotspot in the field of neurosurgery. Compared with computed tomography (CT), MRI has better soft tissue contrast and no ionizing radiation, which makes it very suitable for neurosurgery and improves the accuracy and safety of surgery. However, the current research on MRI-guided brain puncture surgery robots is still in its early stages. Constrained drilling and the strong magnetic field of the MRI environment still pose challenges to the implementation of robot-assisted surgery. The current research on MRI-guided brain puncture surgery robots is still in its early stages. Under MRI guidance, how to accurately position the puncture needle is a problem that needs to be solved. Utility Model Content

[0004] The utility model aims to provide a puncture needle driving and positioning device based on an MRI brain tumor puncture surgical robot, which can realize accurate positioning of the puncture needle and adjustment of the insertion angle of the puncture needle.

[0005] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0006] The puncture needle driving and positioning device based on the MRI brain tumor puncture surgical robot comprises an upper ball chain, a lower ball chain, an upper XY moving module, a lower XY moving module, an upper driving device and a lower driving device. The puncture syringe is installed on the upper ball chain and the lower ball chain. The upper driving device and the lower driving device drive the upper XY moving module and the lower XY moving module respectively. The upper XY moving module and the lower XY moving module drive the upper ball chain and the lower ball chain to move respectively. The upper ball chain and the lower ball chain drive the puncture syringe to move.

[0007] Furthermore, it also includes a frame, which includes an upper frame and a lower frame, the upper XY moving module and the upper driving device are installed on the upper frame, and the lower XY moving module and the lower driving device are installed on the lower frame.

[0008] Furthermore, the upper XY moving module and the lower XY moving module have the same structure.

[0009] Furthermore, the frame, the upper XY moving module and the lower XY moving module are all made of non-metallic materials.

[0010] Further, the upper XY moving module comprises an X-forward guide rail, an X-forward slider, an X-forward sliding sleeve, an X-forward sliding rod, an X-rearward guide rail, an X-rearward slider, an X-rearward sliding sleeve, an X-rearward sliding rod, a Y-left guide rail, a Y-left slider, a Y-left sliding sleeve, a Y-left sliding rod, a Y-right guide rail, a Y-right slider, a Y-right sliding sleeve, and a Y-right sliding rod. One end of the X-forward sliding rod, the X-rearward sliding rod, the Y-left sliding rod, and the Y-right sliding rod are fixedly connected to the upper ball chain and form a cross, and the other ends are respectively extended into the X-forward sliding sleeve, the X-rearward sliding sleeve, the Y-left sliding sleeve, and the Y-right sliding sleeve and can slide relatively. The X-forward sliding sleeve, the X-rearward sliding sleeve, the Y-left sliding sleeve, and the Y-right sliding sleeve are respectively fixed on the X-forward slider, the X-rearward slider, the Y-left slider, and the Y-right slider.

[0011] Further, the upper driving device and the lower driving device have the same structure, and the upper driving device includes an X forward driving device, an X backward driving device, a Y left driving device and a Y right driving device, and the X forward driving device, the X backward driving device, the Y left driving device and the Y right driving device respectively drive the X forward slider, the X backward slider, the Y left slider and the Y right slider to slide along the X forward guide rail, the X backward guide rail, the Y left guide rail and the Y right guide rail respectively.

[0012] Furthermore, the structures of the X forward driving device, the X backward driving device, the Y left driving device and the Y right driving device are the same.

[0013] Furthermore, the X-direction rear drive device includes a hydraulic cylinder A and a hydraulic cylinder B, the piston rod A on the hydraulic cylinder A and the piston rod B on the hydraulic cylinder B are fixedly connected to the two side walls of the X-direction rear slider and are parallel to the X-direction rear guide rail, when the piston rod A of the hydraulic cylinder A applies a thrust to the X-direction rear slider, the piston rod B on the hydraulic cylinder B applies a pulling force to the X-direction rear slider.

[0014] Furthermore, the X-axis backward drive device also includes a hydraulic adjustment motor drive unit, which includes a stepper motor, a lead screw, a stepper slider, a slide rail, a hydraulic adjustment cylinder A1 and a hydraulic adjustment cylinder A2, a hydraulic adjustment cylinder B1 and a hydraulic adjustment cylinder B2, the stepper motor is connected to one end of the lead screw, the stepper slider is arranged on the slide rail, and the transmission threaded hole of the stepper slider is threadedly connected to the lead screw, the hydraulic adjustment cylinder A1 and the hydraulic adjustment cylinder A2 are located on one side of the lead screw, and the end of the piston rod of the hydraulic adjustment cylinder A1 and the hydraulic adjustment cylinder A2 The end of the piston rod is connected to the stepping slider through a connecting piece, the hydraulic delivery pipe of the hydraulic adjusting cylinder A1 and the hydraulic delivery pipe of the hydraulic adjusting cylinder A2 are connected to the cylinder body of the hydraulic cylinder A, and the connecting point is located on both sides of the piston; the hydraulic adjusting cylinder B1 and the hydraulic adjusting cylinder B2 are located on the other side of the screw, the end of the piston rod of the hydraulic adjusting cylinder B1 and the end of the piston rod of the hydraulic adjusting cylinder B2 are connected to the stepping slider through a connecting piece, the hydraulic delivery pipe of the hydraulic adjusting cylinder B1 and the hydraulic delivery pipe of the hydraulic adjusting cylinder B2 are connected to the cylinder body of the hydraulic cylinder B, and the connecting point is located on both sides of the piston.

[0015] Furthermore, an upper ball chain displacement detection device is provided on the upper XY moving module, and the upper ball chain displacement detection device includes 4 grating rulers and 4 laser transmitter heads. The 4 laser transmitter heads are installed at the bottom of the X forward slider, the X backward slider, the Y left slider, and the Y right slider. The 4 grating rulers are respectively located below the 4 laser transmitter heads. The laser irradiates downward onto the grating ruler, and the grating ruler transmits the position information to the main control unit.

[0016] The beneficial effects of the utility model are:

[0017] The puncture needle drive positioning device of the robot of the present application can accurately adjust the displacement of the puncture needle barrel, thereby achieving accurate positioning of the puncture needle and adjustment of the puncture needle insertion angle.

[0018] The present application uses a stepper motor as a power source, and converts the power of the stepper motor into a hydraulic drive through a hydraulic adjustment cylinder. The transmission fluid on one side of the piston in the hydraulic cylinder provides thrust, and the other side provides pulling force. Not only does the hydraulic cylinder have sufficient driving force, but the transmission fluid also has a buffering function, making the movement of the piston or piston syringe smoother and more precise. The stepper motor is arranged outside the scanning chamber of the nuclear magnetic resonance. This design solves the problem that the stepper motor cannot be used in a nuclear magnetic resonance environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The utility model is further described with the aid of the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the utility model. A person skilled in the art can obtain other accompanying drawings according to the following drawings without creative work:

[0020] Figure 1 It is a schematic diagram of the structure of the utility model;

[0021] Figure 2 for Figure 1 The structural diagram of the puncture needle cylinder, the upper ball chain and the lower ball chain shown;

[0022] Figure 3 for Figure 1 The structural schematic diagram of the X-axis backward driving device shown;

[0023] Figure 4 It is a structural schematic diagram of the hydraulic adjustment motor drive unit of the X-axis rear drive device.

[0024] In the figure: 1, upper ball chain; 2, lower ball chain; 3, puncture needle cylinder; 4, frame; 5, X forward guide rail; 6, X forward slider; 7, X forward sleeve; 8, X forward slide bar; 9, X backward guide rail; 10, X backward slider; 11, X backward sleeve; 12, X backward slide bar; 13, Y left guide rail; 14, Y left slider; 15, Y left sleeve; 16, Y left slide bar; 17, Y right guide rail; 18, Y right slider; 19, Y right sleeve; 20, Y right slide bar; 21, X forward drive device; 22, X backward drive device; 23, Y left drive device; 24, Y right drive device ; 25. Hydraulic cylinder A; 26. Hydraulic cylinder B; 27. Piston rod A; 28. Piston rod B; 29. ​​Stepper motor; 30. Lead screw; 31. Stepper slider; 32. Slide rail; 33. Hydraulic adjustment cylinder A1; 34. Hydraulic adjustment cylinder A2; 35. Hydraulic adjustment cylinder B1; 36. Hydraulic adjustment cylinder B2; 37. Connecting piece; 38. Hydraulic delivery pipe of hydraulic adjustment cylinder A1; 39. Hydraulic delivery pipe of hydraulic adjustment cylinder B1; 40. Hydraulic delivery pipe of hydraulic adjustment cylinder B1; 41. Hydraulic delivery pipe of hydraulic adjustment cylinder B2; 42. Upper plate frame; 43. Lower plate frame; 44. Laser transmitter; 45. Grating ruler. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other without conflict.

[0026] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper surface", "lower surface", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "forward", "reverse", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0027] like Figure 1 , 2 As shown, the puncture needle driving and positioning device based on the MRI brain tumor puncture surgical robot includes an upper ball chain 1, a lower ball chain 2, an upper XY moving module, a lower XY moving module, an upper driving device and a lower driving device. The puncture needle 3 is installed on the upper ball chain 1 and the lower ball chain 2. The upper driving device and the lower driving device drive the upper XY moving module and the lower XY moving module respectively. The upper XY moving module and the lower XY moving module drive the upper ball chain and the lower ball chain to move respectively. The upper ball chain and the lower ball chain drive the puncture needle to move. It also includes a frame 4, which includes an upper plate frame 42 and a lower plate frame 43. The upper XY moving module and the upper driving device are installed on the upper plate frame 42, and the lower XY moving module and the lower driving device are installed on the lower plate frame 43.

[0028] The frame 4, the upper XY moving module and the lower XY moving module are all made of non-metallic materials, and the upper XY moving module and the lower XY moving module have the same structure. The upper XY moving module includes an X-forward guide rail 5, an X-forward slider 6, an X-forward sleeve 7, an X-forward slide bar 8, an X-rearward guide rail 9, an X-rearward slider 10, an X-rearward sleeve 11, an X-rearward slide bar 12, a Y-left guide rail 13, a Y-left slider 14, a Y-left sleeve 15, a Y-left slide bar 16, a Y-right guide rail 17, a Y-right slider 18, a Y-right sleeve 19, and a Y-right slide bar 20. The X-forward slide bar 8, the X-backward slide bar 12, the Y-left slide bar 16 and the Y-right slide bar 20 are fixedly connected to the upper ball chain 1 at one end and are in a cross shape, and the other ends are respectively inserted into the X-forward slide sleeve, the X-backward slide sleeve, the Y-left slide sleeve and the Y-right slide sleeve and can slide relatively. The X-forward slide sleeve, the X-backward slide sleeve, the Y-left slide sleeve and the Y-right slide sleeve are respectively fixed on the X-forward slider, the X-backward slider, the Y-left slider and the Y-right slider. The X-forward slide bar 8 uses a ceramic rod, and the mounting hole of the X-forward slider 6 is mounted on the X-forward slide bar 8 through a linear bearing, so that the X-forward slider 6 slides more smoothly.

[0029] The upper driving device comprises an X forward driving device 21, an X backward driving device 22, a Y left driving device 23 and a Y right driving device 24, wherein the X forward driving device, the X backward driving device, the Y left driving device and the Y right driving device respectively drive the X forward slider, the X backward slider, the Y left slider and the Y right slider to slide along the X forward guide rail, the X backward guide rail, the Y left guide rail and the Y right guide rail respectively.

[0030] like Figure 3 , 4 As shown, the structures of the X-direction forward driving device 21, the X-direction backward driving device 22, the Y-direction left driving device 23 and the Y-direction right driving device 24 are the same. The X-direction backward driving device 22 includes a hydraulic cylinder A25 and a hydraulic cylinder B26. The piston rod A27 on the hydraulic cylinder A25 and the piston rod B28 on the hydraulic cylinder B26 are fixedly connected to the two side walls of the X-direction backward slider 10 and are parallel to the X-direction backward guide rail 9. When the piston rod A27 of the hydraulic cylinder A applies a thrust to the X-direction backward slider 10, the piston rod B28 on the hydraulic cylinder B applies a pulling force to the X-direction backward slider 10.

[0031] The X-axis backward drive device 22 also includes a hydraulic adjustment motor drive unit, which includes a stepper motor 29, a lead screw 30, a stepper slider 31, a slide rail 32, a hydraulic adjustment cylinder A133, a hydraulic adjustment cylinder A234, a hydraulic adjustment cylinder B135 and a hydraulic adjustment cylinder B236. The stepper motor 29 is connected to one end of the lead screw 30, the stepper slider 31 is arranged on the slide rail 32, and the transmission threaded hole of the stepper slider 31 is threadedly connected to the lead screw 30. The hydraulic adjustment cylinder A133 and the hydraulic adjustment cylinder A234 are located on one side of the lead screw 30. The end of the piston rod of the hydraulic adjustment cylinder A1 and the hydraulic adjustment cylinder A234 are connected to the hydraulic adjustment cylinder B135. The end of the piston rod of the hydraulic adjusting cylinder A2 is connected to the stepping slider 31 through a connecting piece 37, the hydraulic delivery pipe 38 of the hydraulic adjusting cylinder A1 and the hydraulic delivery pipe 39 of the hydraulic adjusting cylinder A2 are connected to the cylinder body of the hydraulic cylinder A25 and are located on both sides of the piston; the hydraulic adjusting cylinder B135 and the hydraulic adjusting cylinder B236 are located on the other side of the screw 30, the end of the piston rod of the hydraulic adjusting cylinder B1 and the end of the piston rod of the hydraulic adjusting cylinder B2 are connected to the stepping slider 31 through a connecting piece, the hydraulic delivery pipe 40 of the hydraulic adjusting cylinder B1 and the hydraulic delivery pipe 41 of the hydraulic adjusting cylinder B2 are connected to the cylinder body of the hydraulic cylinder B26 and are located on both sides of the piston.

[0032] The lead screw 30, stepping slider 31 and slide rail 32 constitute a ball screw slide. This embodiment uses a ball screw slide of model CBX1204-100ZC, which has a stroke of 100 mm and a pitch of 4 mm.

[0033] The stepper motor is a 57HS09 stepper motor with a torque of 0.9N·m.

[0034] The upper XY moving module is provided with an upper ball chain displacement detection device, which includes 4 grating rulers 45 and 4 laser transmitters 44. The 4 laser transmitters 44 are respectively installed in the X forward slider, the X backward slider, the Y left slider, and the Y right slider. The 4 grating rulers 45 are located below the 4 laser transmitters. The laser is irradiated downward onto the grating ruler 45, and the grating ruler 45 transmits the position information to the main control unit. The grating ruler 45 is an MRI compatible sensor, and the MRI compatible optical fiber with the smallest inner diameter (inner diameter 0.5mm) is used as the medium for transmitting the optical signal. The laser generator is located outside the MRI scanning chamber, and the generated laser is transmitted to the MRI room through the signal input optical fiber, and irradiated onto the grating ruler 45 through the laser transmitter 44. The grating ruler 45 is made of MRI compatible material (film) and is used as an encoder for encoding. The obtained signal is transmitted to the outside of the MRI room through the signal receiving optical fiber, and is received by the optical fiber sensor (NA11, response time 250us), which converts the optical signal into a voltage signal and transmits it to the main control unit (MCU).

[0035] Working principle: when adjusting the specific X-direction position of the puncture needle 3, the X-forward driving device 21 and the X-rearward driving device 22 of the upper XY moving module are driven synchronously, and the lower XY moving module and the upper XY moving module also work synchronously. Of course, when adjusting the specific Y-direction position of the puncture needle 3, the Y-left driving device 23 and the Y-right driving device 24 of the upper XY moving module are also driven synchronously, and the lower XY moving module and the upper XY moving module also work synchronously, thereby adjusting the position of the puncture needle 3 to an area closer to the location of the brain tumor in the patient's head.

[0036] When the tilt angle of the puncture needle cylinder 3 needs to be adjusted, the tilt angle of the puncture needle cylinder 3 is adjusted by adjusting the upper XY moving module or the lower XY moving module.

[0037] In addition, those skilled in the art may combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without contradiction. Although the embodiments of the utility model have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the utility model. Those skilled in the art may change, modify, replace and modify the above embodiments within the scope of the utility model.

Claims

1. A puncture needle driving and positioning device based on an MRI brain tumor puncture surgical robot, characterized in that: It includes an upper ball chain, a lower ball chain, an upper XY moving module, a lower XY moving module, an upper driving device and a lower driving device. The puncture needle is installed on the upper ball chain and the lower ball chain. The upper driving device and the lower driving device drive the upper XY moving module and the lower XY moving module respectively. The upper XY moving module and the lower XY moving module drive the upper ball chain and the lower ball chain to move respectively. The upper ball chain and the lower ball chain drive the puncture needle to move.

2. The puncture needle driving and positioning device based on the MRI brain tumor puncture surgical robot according to claim 1, characterized in that: It also includes a frame, which includes an upper frame and a lower frame. The upper XY moving module and the upper driving device are installed on the upper frame, and the lower XY moving module and the lower driving device are installed on the lower frame.

3. The puncture needle driving and positioning device based on the MRI brain tumor puncture surgical robot according to claim 2 is characterized in that: The upper XY moving module and the lower XY moving module have the same structure.

4. The puncture needle driving and positioning device based on the MRI brain tumor puncture surgical robot according to claim 3 is characterized in that: The frame, the upper XY moving module and the lower XY moving module are all made of non-metallic materials.

5. The puncture needle driving and positioning device based on the MRI brain tumor puncture surgical robot according to claim 4 is characterized in that: The upper XY moving module comprises an X forward guide rail, an X forward slider, an X forward sliding sleeve, an X forward sliding rod, an X backward guide rail, an X backward slider, an X backward sliding sleeve, an X backward sliding rod, a Y left guide rail, a Y left slider, a Y left sliding sleeve, a Y left sliding rod, a Y right guide rail, a Y right slider, a Y right sliding sleeve, and a Y right sliding rod. One end of the X forward sliding rod, the X backward sliding rod, the Y left sliding rod, and the Y right sliding rod are fixedly connected to the upper ball chain and form a cross, and the other ends are respectively extended into the X forward sliding sleeve, the X backward sliding sleeve, the Y left sliding sleeve, and the Y right sliding sleeve and can slide relatively. The X forward sliding sleeve, the X backward sliding sleeve, the Y left sliding sleeve, and the Y right sliding sleeve are respectively fixed on the X forward slider, the X backward slider, the Y left slider, and the Y right slider.

6. The puncture needle driving and positioning device based on the MRI brain tumor puncture surgical robot according to claim 5, characterized in that: The upper driving device and the lower driving device have the same structure. The upper driving device includes an X forward driving device, an X backward driving device, a Y left driving device and a Y right driving device. The X forward driving device, the X backward driving device, the Y left driving device and the Y right driving device respectively drive the X forward slider, the X backward slider, the Y left slider and the Y right slider to slide along the X forward guide rail, the X backward guide rail, the Y left guide rail and the Y right guide rail respectively.

7. The puncture needle driving and positioning device based on the MRI brain tumor puncture surgical robot according to claim 6, characterized in that: The structures of the X forward driving device, the X backward driving device, the Y left driving device and the Y right driving device are the same.

8. The puncture needle driving and positioning device based on the MRI brain tumor puncture surgical robot according to claim 7, characterized in that: The X-direction rear driving device comprises a hydraulic cylinder A and a hydraulic cylinder B. The piston rod A on the hydraulic cylinder A and the piston rod B on the hydraulic cylinder B are fixedly connected to the two side walls of the X-direction rear slider and are parallel to the X-direction rear guide rail. When the piston rod A of the hydraulic cylinder A applies a thrust to the X-direction rear slider, the piston rod B on the hydraulic cylinder B applies a pulling force to the X-direction rear slider.

9. The puncture needle driving and positioning device based on the MRI brain tumor puncture surgical robot according to claim 8, characterized in that: The X-axis backward drive device also includes a hydraulic adjustment motor drive unit; the hydraulic adjustment motor drive unit includes a stepper motor, a lead screw, a stepper slider, a slide rail, a hydraulic adjustment cylinder A1 and a hydraulic adjustment cylinder A2, a hydraulic adjustment cylinder B1 and a hydraulic adjustment cylinder B2, the stepper motor is connected to one end of the lead screw, the stepper slider is arranged on the slide rail, and the transmission threaded hole of the stepper slider is threadedly connected to the lead screw, the hydraulic adjustment cylinder A1 and the hydraulic adjustment cylinder A2 are located on one side of the lead screw, and the end of the piston rod of the hydraulic adjustment cylinder A1 and the piston of the hydraulic adjustment cylinder A2 are connected to each other. The end of the rod is connected to the stepping slider through a connecting piece, the hydraulic delivery pipe of the hydraulic adjusting cylinder A1 and the hydraulic delivery pipe of the hydraulic adjusting cylinder A2 are connected to the cylinder body of the hydraulic cylinder A, and the connecting point is located on both sides of the piston; the hydraulic adjusting cylinder B1 and the hydraulic adjusting cylinder B2 are located on the other side of the lead screw, the end of the piston rod of the hydraulic adjusting cylinder B1 and the end of the piston rod of the hydraulic adjusting cylinder B2 are connected to the stepping slider through a connecting piece, the hydraulic delivery pipe of the hydraulic adjusting cylinder B1 and the hydraulic delivery pipe of the hydraulic adjusting cylinder B2 are connected to the cylinder body of the hydraulic cylinder B, and the connecting point is located on both sides of the piston.

10. The puncture needle driving and positioning device based on the MRI brain tumor puncture surgical robot according to claim 9, characterized in that: An upper ball chain displacement detection device is provided on the upper XY moving module, and the upper ball chain displacement detection device includes 4 grating rulers and 4 laser transmitters. The 4 laser transmitters are installed at the bottom of the sleeve wall of the X forward sliding sleeve, the X backward sliding sleeve, the Y left sliding sleeve, and the Y right sliding sleeve. The 4 grating rulers are respectively located below the 4 laser transmitters. The laser irradiates downward onto the grating ruler, and the grating ruler transmits the optical signal to the optical sensor through the optical fiber, and the optical sensor transmits the position information to the main control unit.

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