Adjust the possible equipment

Abstract

The technology claimed and described herein provides an apparatus (500, 1000A, 1000B) configured to adjustably position a focal location (14) of a first instrument (12) of a first body (10, 20, 60) relative to a target location (44, 54) of a second instrument (42, 42H, 42U, 52) of a second body (40, 50). The apparatus further includes a third body (30), a first joint (210), and a second joint (310). The first joint is configured to adjustably linearly position the first body relative to said third body along a first axis (A2) to thereby effect a first adjustment, and is further configured to adjustably rotationally position the first body relative to the third body about the first axis (A2) to thereby effect a second adjustment. The second coupling is configured to adjustably linearly position the second body relative to the third body along the second axis (A3) to thereby effect a third adjustment, and is further configured to adjustably rotationally position the second body relative to the third body about the second axis (A3) to thereby effect a fourth adjustment. Each of the first, second, third, and / or fourth adjustments can be effected independently of one another and have zero backlash. Additional third axis (A1, A1A, A1B) linear and / or rotational adjustment mechanism(s) can be added. In certain embodiments, the first, second, and / or third axes intersect each other at a point (P).

Description

[Technical field]

[0001] Various aspects of the technology disclosed and claimed herein relate to kinematic mounts, low-backlash adjustable mounts, zero-backlash adjustable mounts, adjustable slide holders, adjustable sample holders, adjustable kinematic mounts, optical mounts, positioning devices, multiple degree of freedom mounts, and the like. [Background technology]

[0002] The manufacturing tolerances of mounts and housings for optical components are insufficient to achieve the required levels of performance for precision optical systems such as microscopes. Precise lateral and angular alignment of the components is typically facilitated by dedicated adjustment stages and mounts.

[0003] Commercially available stages and / or mounts provide a high level of precision, but are subject to cross-coupling between the various adjustments required: for example, a tilt adjustment to an optic made by a pivot offset from the central aperture may result in undesirable lateral and / or axial displacements (i.e., displacements perpendicular to and / or coaxial with the axis of the central aperture).

[0004] Cross-coupling associated with prior art designs complicates such optical alignment procedures, which are sensitive to small axial and / or lateral displacements. For example, a 1 degree adjustment for a 1 inch diameter aperture stage may cause an axial shift of approximately 290 μm. Such prior art designs allow compensation for these undesired displacements, but multiple iterations of the adjustment input may be required.

[0005] Certain gimbal-type mount designs allow angular adjustment about the center of the aperture, but use pivots that produce significantly larger and unpredictable misalignments for a given volume and may have double-duty adjustment screws.

[0006] Thus, a need exists for an alignment / positioning mechanism that can provide adjustment in four, five, and / or six degrees of freedom, without cross-coupling of the adjustment inputs, and without backlash. Further, a need exists for such an alignment / positioning mechanism that is compact, economical, and easy to maintain.

[0007] Further limitations and drawbacks of conventional and traditional prior art mounts / regulators / gimbals arrangements will become apparent to those skilled in the art through a comparison of such arrangements with certain aspects of the present disclosure, as described in the remainder of this application with reference to the drawings. Summary of the Invention

[0008] The inventors have recognized a need for a compact 4, 5, and / or 6-axis alignment stage with a virtual center pivot and no or minimal cross-coupling of adjustment inputs. A particular embodiment includes three main components: a) a fixed base, b) a first movable member, and c) a second movable member. The first movable member is attached to the fixed base using two spheres, each in tangential contact with a pair of cylindrical pins, thereby allowing 1) rotational displacement about a first axis defined between the centers of the two spheres, and 2) linear displacement along the same first axis. Linear and tilt adjustment of the first movable member relative to the fixed base is accomplished by actuating a first axial linear and tilt adjustment screw against two preloaded springs. The second movable member is similarly attached to the first movable member using two spheres, each in tangential contact with a pair of cylindrical pins, thereby allowing 3) rotational displacement about a second axis defined between the centers of the two spheres, and 4) linear displacement along the same second axis. Linear and tilt adjustment of the second movable member relative to the first movable member is performed by actuating second axial linear and tilt adjustment screws against two preloaded springs. This arrangement can provide zero backlash relative movement about the intersection of the two axes, and the adjustment screws can act independently of each other without cross-coupling. Additional third axial linear and / or tilt mechanism(s) can be added.

[0009] These and other advantages, aspects, and novel features of the present disclosure, as well as details of illustrated embodiments thereof, will become more fully understood from the following description and drawings.

[0010] Embodiments of the present disclosure will now be described, by way of example only, with reference to the accompanying drawings, in which: [Brief description of the drawings]

[0011] [Figure 1] 1 is a perspective view of a first embodiment of an instrument having an onboard device in accordance with the principles of the present disclosure; FIG. [Diagram 2] FIG. 1 is a perspective view of a second embodiment of an instrument with a flow cell mounted on a mounting device in accordance with the principles of the present disclosure. [Diagram 3] FIG. 2 is another perspective view of the device of FIG. 1. [Figure 4] FIG. 2 is a plan view of the device of FIG. 1. [Diagram 5] FIG. 5 is a side elevational cross-sectional view of the device of FIG. 1 called out in FIG. 4. [Figure 6] FIG. 5 is an enlarged view of the portion of FIG. 5 called out in FIG. [Figure 7] FIG. 2 is a side elevational view of the device of FIG. 1. [Figure 8] FIG. 3 is a plan view of the device of FIG. 2. [Figure 9] FIG. 9 is a side elevational cross-sectional view of the device of FIG. 2 called out in FIG. 8. [Figure 10] 3 is a longitudinal cross-sectional view of another flow cell compatible with the instrument of FIG. 2 in accordance with the principles of the present disclosure. [Figure 11] 11 is a schematic diagram showing the operation of the flow cell of FIG. 10. [Figure 12] 2 is a perspective view of the mounting apparatus of FIG. 1 in accordance with the principles of the present disclosure; [Figure 13] 2 is a perspective view of a first kinematic mechanism of the mounting apparatus of FIG. 1 in accordance with the principles of the present disclosure; FIG. [Figure 14] 2 is a perspective view of a second kinematic mechanism of the mounting apparatus of FIG. 1 in accordance with the principles of the present disclosure; FIG. [Figure 15] FIG. 15 is a perspective view of a first portion of the second kinematic mechanism of FIG. 14, in accordance with the principles of the present disclosure. [Figure 16] FIG. 15 is a perspective view of a second portion of the second kinematic mechanism of FIG. 14, in accordance with the principles of the present disclosure. [Figure 17] 13 is a perspective view of a third kinematic mechanism of the mounting apparatus of FIG. 1 according to the principles of the present disclosure, illustrating the rotational movement of the third kinematic mechanism relative to the mounting apparatus shown in FIG. 12; [Figure 18] FIG. 17 is another perspective view of the second portion of the second kinematic mechanism of FIG. 16. [Figure 19] FIG. 19 is a perspective view of FIG. 18, but exploded. [Figure 20] FIG. 17 is another exploded perspective view of the second portion of the second kinematic mechanism of FIG. 16. [Figure 21] FIG. 17 is yet another exploded perspective view of the second portion of the second kinematic mechanism of FIG. 16. [Figure 22] FIG. 17 is a side view of a second portion of the second kinematic mechanism of FIG. 16. [Figure 23] FIG. 17 is a front view of a second portion of the second kinematic mechanism of FIG. 16. [Figure 24] 24 is a side cross-sectional view of a second portion of the second kinematic mechanism of FIG. 16 called out in FIG. 23. [Diagram 25] FIG. 16 is an exploded perspective view of a first portion of the second kinematic mechanism of FIG. 15. [Figure 26] FIG. 16 is another exploded perspective view of the first portion of the second kinematic mechanism of FIG. 15. [Figure 27] FIG. 16 is a perspective view of a first portion of the second kinematic mechanism of FIG. 15. [Figure 28] FIG. 16 is yet another exploded perspective view of the first portion of the second kinematic mechanism of FIG. 15. [Figure 29] FIG. 16 is a side view of a first portion of the second kinematic mechanism of FIG. 15. [Diagram 30] FIG. 16 is a front view of a first portion of the second kinematic mechanism of FIG. 15. [Diagram 31] 31 is a side cross-sectional view of a first portion of the second kinematic mechanism of FIG. 15 called out in FIG. 30; [Diagram 32] FIG. 15 is an exploded perspective view of the second kinematic mechanism of FIG. 14. [Diagram 33] 32 is an exploded perspective view showing only the second portion of the second kinematic mechanism of FIG. 16. [Diagram 34] 32 is an exploded perspective view showing only a first portion of the second kinematic mechanism of FIG. 15. [Diagram 35]15 is a front view of the first and second kinematic mechanisms of FIGS. 13 and 14, illustrating the linear movement of a first portion of the second kinematic mechanism of FIG. 15, in accordance with the principles of the present disclosure; FIG. [Diagram 36] 15 is a front view of the first and second kinematic mechanisms of FIGS. 13 and 14, illustrating the linear movement of a first portion of the second kinematic mechanism of FIG. 15, in accordance with the principles of the present disclosure; FIG. [Figure 37] 15 is a front view of the first and second kinematic mechanisms of FIGS. 13 and 14, illustrating the linear movement of a first portion of the second kinematic mechanism of FIG. 15, in accordance with the principles of the present disclosure; FIG. [Figure 38] 16 is a front view of the first and second kinematic mechanisms of FIGS. 13 and 14, illustrating the linear movement of a second portion of the second kinematic mechanism of FIG. 16, in accordance with the principles of the present disclosure; FIG. [Figure 39] 16 is a front view of the first and second kinematic mechanisms of FIGS. 13 and 14, illustrating the linear movement of a second portion of the second kinematic mechanism of FIG. 16, in accordance with the principles of the present disclosure; FIG. [Diagram 40] 16 is a front view of the first and second kinematic mechanisms of FIGS. 13 and 14, illustrating the linear movement of a second portion of the second kinematic mechanism of FIG. 16, in accordance with the principles of the present disclosure; FIG. [Diagram 41] 16 is a perspective view of the first and second kinematic mechanisms of FIGS. 13 and 14, illustrating rotational movement of a second portion of the second kinematic mechanism of FIG. 16, in accordance with the principles of the present disclosure; FIG. [Diagram 42] 16 is a perspective view of the first and second kinematic mechanisms of FIGS. 13 and 14, illustrating rotational movement of a second portion of the second kinematic mechanism of FIG. 16, in accordance with the principles of the present disclosure; FIG. [Diagram 43] 16 is an end view of the first and second kinematic mechanisms of FIGS. 13 and 14, illustrating rotational movement of a second portion of the second kinematic mechanism of FIG. 16, in accordance with the principles of the present disclosure; FIG. [Diagram 44] 16 is an end view of the first and second kinematic mechanisms of FIGS. 13 and 14, illustrating rotational movement of a second portion of the second kinematic mechanism of FIG. 16, in accordance with the principles of the present disclosure; FIG. [Diagram 45] 16 is an end view of the first and second kinematic mechanisms of FIGS. 13 and 14, illustrating rotational movement of a second portion of the second kinematic mechanism of FIG. 16, in accordance with the principles of the present disclosure; FIG. [Figure 46] 16 is an end view of the first and second kinematic mechanisms of FIGS. 13 and 14, illustrating rotational movement of a second portion of the second kinematic mechanism of FIG. 16, in accordance with the principles of the present disclosure; FIG. [Figure 47] 16 is an end view of the first and second kinematic mechanisms of FIGS. 13 and 14, illustrating rotational movement of a second portion of the second kinematic mechanism of FIG. 16, in accordance with the principles of the present disclosure; FIG. [Figure 48] 16 is an end view of the first and second kinematic mechanisms of FIGS. 13 and 14, illustrating rotational movement of a second portion of the second kinematic mechanism of FIG. 16, in accordance with the principles of the present disclosure; FIG. [Figure 49] 15 is a perspective view of the first and second kinematic mechanisms of FIGS. 13 and 14, illustrating rotational movement of a first portion of the second kinematic mechanism of FIG. 15, in accordance with the principles of the present disclosure; FIG. [Figure 50] 15 is a perspective view of the first and second kinematic mechanisms of FIGS. 13 and 14, illustrating rotational movement of a first portion of the second kinematic mechanism of FIG. 15, in accordance with the principles of the present disclosure; FIG. [Figure 51] 15 is a side view of the first and second kinematic mechanisms of FIGS. 13 and 14, illustrating rotational movement of a first portion of the second kinematic mechanism of FIG. 15, in accordance with the principles of the present disclosure; FIG. [Figure 52] 15 is a side view of the first and second kinematic mechanisms of FIGS. 13 and 14, illustrating rotational movement of a first portion of the second kinematic mechanism of FIG. 15, in accordance with the principles of the present disclosure; FIG. [Diagram 53] 15 is a side view of the first and second kinematic mechanisms of FIGS. 13 and 14, illustrating rotational movement of a first portion of the second kinematic mechanism of FIG. 15, in accordance with the principles of the present disclosure; FIG. [Figure 54] 15 is a side view of the first and second kinematic mechanisms of FIGS. 13 and 14, illustrating rotational movement of a first portion of the second kinematic mechanism of FIG. 15, in accordance with the principles of the present disclosure; FIG. [Figure 55] 15 is a side view of the first and second kinematic mechanisms of FIGS. 13 and 14, illustrating rotational movement of a first portion of the second kinematic mechanism of FIG. 15, in accordance with the principles of the present disclosure; FIG. [Figure 56] 15 is a side view of the first and second kinematic mechanisms of FIGS. 13 and 14, illustrating rotational movement of a first portion of the second kinematic mechanism of FIG. 15, in accordance with the principles of the present disclosure; FIG. [Fig. 57-58] 15 is a side view of the first and second kinematic mechanisms of FIGS. 13 and 14, illustrating the linear movement of the first kinematic mechanism of FIG. 13, in accordance with the principles of the present disclosure; FIG. [Figure 59] FIG. 15 is a perspective view of the generic machine of FIGS. 1 and 2 mounted to the first and second kinematic mechanisms of FIGS. 13 and 14 in accordance with the principles of the present disclosure, showing five adjusters for setting the kinematic mechanisms. [Figure 60] 60 is a flow chart of a method of adjusting the device of FIG. 59 having five adjusters, in accordance with the principles of the present disclosure. [Figure 61] 60 is a flow chart of another method of adjusting the device of FIG. 59 having five adjusters, in accordance with the principles of the present disclosure. [Figure 62] 1 is a flow chart of a method for adjusting a particular prior art instrument having five regulators. [Figure 63] 4 is another flow chart of a method for adjusting a particular prior art instrument having five regulators. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Various embodiments will be described in detail with reference to the drawings, in which like reference numerals refer to like parts and assemblies throughout the several views. It is understood that the present disclosure is not limited to the specific methods and examples described herein, which may therefore vary. It is also understood that the terms used herein are merely for the purpose of describing specific embodiments, and are not intended to limit the scope of the present disclosure or the appended claims.

[0013] As used in this specification and in the appended claims, the singular forms "a," "an," and "the" include plural references unless the context clearly dictates otherwise.

[0014] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood to one of ordinary skill in the art to which this disclosure belongs.

[0015] In accordance with the principles of the present disclosure, the adjustable device may be used to position the first object 12 relative to the second object 42, 42H, 42U, 52. In an example embodiment, the first object 12 is a microscope and the second object 42, 42H, 42U, 52 is a flow cell 42H, 42U in one embodiment (see items 42, 42H, 42U in Figures 2 and 8-11) and a slide in another embodiment (see item 52 in Figure 6 and parent Figure 5). In still other embodiments, the first object 12 can be a device, tool, sample, workpiece, holder, slide, slide holder, laser, flow cell, wafer, camera, probe, mask, electron emitter, lithography head, etc., and / or the second object 42, 52 can be a device, tool, sample, workpiece, holder, slide holder, microscope, laser, wafer, camera, probe, mask, electron emitter, lithography head, etc.

[0016] In the illustrated example embodiment, the first object 12 is an analytical device (e.g., microscope, probe, camera, etc.) and the second object 42, 42H, 42U, 52 is analyzed, examined, measured, observed, tracked, etc. by the analytical device. In other embodiments, the first object 12 is a tool (e.g., device, holder, laser, laser welder, probe, electron emitter, machine tool, lithography head, etc.) and the second object 42, 52 is a workpiece (e.g., object, device, sample, slide, wafer, mask, etc. that is worked on by the tool). In yet other embodiments, the first object 12 is a first article and the second object 42, 52 is a second article. In yet other embodiments, the first object 12 is a first portion of an item and the second object 42, 52 is a second portion of the same item, the item may be flexible, deformable, etc., and the adjustable device may be used to move the first and second portions relative to one another, thereby deforming, flexing, etc. the item.

[0017] In accordance with the principles of the present disclosure, example flow cell 42U can be a flow cell used in a urinalysis instrument (e.g., a urinalysis analyzer), and / or example flow cell 42H can be a flow cell used in a hematology instrument (e.g., a hematology analyzer). In accordance with the principles of the present disclosure, the tunable device can be incorporated into analytical instruments (e.g., a urinalysis instrument, a urinalysis analyzer, a hematology instrument, a hematology analyzer, a microscope instrument, etc.), can be incorporated into tool arrangements (e.g., a welder arrangement, a machine tool arrangement, a lithography arrangement, etc.), and / or can be used in various imaging instrumentation, such as a urinalysis system, a hematology / blood analysis system, and / or other diagnostic imaging platforms.

[0018] In certain embodiments, an adjustable device may be incorporated into an arrangement that is both an analytical instrument and a tool arrangement (e.g., a welding machine that also inspects the welds made by the welder) in accordance with the principles of the present disclosure.

[0019] 1 and 3-7, an instrument 1100A is shown in accordance with the principles of the present disclosure. In the example shown, the instrument 1100A includes an adjustable device 1000A (e.g., a movable device, a kinematic mechanism, a coupled kinematic mechanism, etc.) configured to position a microscope 12 relative to a slide 52 (see FIGS. 5 and 6), thereby positioning, aligning, orienting, etc., a focal location 14 of the microscope 12 with respect to a target location 54 of the slide 52. In particular, the focal location 14 may be determined by the position of a first lens 12A and a second lens 12B of the microscope 12, and, if equipped, a sensor image plane 18 of a sensor 16 of the microscope 12. (FIG. 5 shows lenses 12A, 12B, image plane 18, and focal location 14 along with a first light ray R1, a second light ray R2, a third light ray R3, and a fourth light ray R4 in an illustrative manner known in the art of optical devices.) Adjustable apparatus 1000A is further shown in accordance with the principles of the present disclosure in FIGS. 11 and 12.

[0020] 2, 8, and 9, an instrument 1100B is shown in accordance with the principles of the present disclosure. In the example shown, the instrument 1100B includes an adjustable device 1000B (e.g., a movable device, a kinematic mechanism, a coupled kinematic mechanism, etc.) configured to position the microscope 12 relative to the flow cells 42U, 42H (see also FIGS. 10 and 11), thereby positioning, aligning, orienting, etc., a focal location 14 (see FIG. 5) of the microscope 12 with respect to a target location 44 (see FIGS. 9-11) of the flow cells 42U, 42H. As explained above, the focal location 14 may be determined by the position of the lenses 12A and 12B and, if equipped, the sensor image plane 18.

[0021] In accordance with the principles of the present disclosure, and as described in detail below, the adjustable apparatus 1000A, 1000B can position, orient, align, etc., the focal location 14 of the microscope 12 relative to the target location 54 of the slide 52 (1000A) and / or relative to the target location 44 of the flow cells 42U, 42H (1000B) in six degrees-of-freedom (dof), which include axes A1A (for 1000A, FIG. 4 , 12, and 17) and / or A1B (for 1000B, see Figs. 2, 8, and 9), translation along and rotation about axis A2 (for 1000A, see Fig. 12, and for 1000A, 1000B, see Figs. 25, 27, 28, 30, and 31), and translation along and rotation about axis A3 (for 1000A, see Fig. 12, and for 1000A, 1000B, see Figs. 18-21, 23, and 24). Axis A1 may generally refer to axes A1A and A1B. In the illustrated embodiment, axes A1, A2, and A3 are mutually orthogonal to one another at least in the neutral configuration (see Fig. 12). In the illustrated embodiment, axes A1, A2, and A3 intersect each other at point P at least in the neutral configuration (see Figures 5, 6, 9, 12, 35, 38, 41, 42, 44, 46, 48-50, 52, 54, and 56). In certain embodiments, axes A1, A2, and A3 intersect each other continuously at point P.

[0022] In certain embodiments, and in accordance with the principles of the present disclosure, adjustable devices 1000A, 1000B may be replaced (i.e., used instead of) adjustable device 500. In the illustrated embodiment, adjustable device 500 is a subset of adjustable devices 1000A, 1000B, shown in Figures 1-5, 7-9, 11, 12, 14, 32, and 35-58. The adjustable device 500 can position, orient, align, etc., the focal location 14 of the microscope 12 with respect to the target location 54 of the slide 52 and / or with respect to the target locations 44 of the flow cells 42U, 42H in 4d-of, including translation along and rotation about axis A2 (see Figs. 12, 25, 27, 28, 30, and 31) and translation along and rotation about axis A3 (see Figs. 12, 18-21, 23, and 24). The adjustable device 500 can further position, orient, align, etc., the first object 12 with respect to the second objects 42, 42H, 42U, 52 in 4d-of, as generally described above. Thus, as shown, the adjustable device 500 does not provide for translation along or rotation about axes A1, A1A, A1B.

[0023] However, in certain embodiments and in accordance with the principles of the present disclosure, adjustable device 400A may be combined with adjustable device 500 to provide 5d-of for manipulation of first object 12 relative to second object 52, as generally described above, thereby adding a single degree of freedom (dof) of rotation about axis A1A (see FIGS. 4, 12, and 17). In the illustrated embodiment, adjustable device 400A is a subset of adjustable device 1000A. Similarly, in certain embodiments and in accordance with the principles of the present disclosure, adjustable device 400B may be combined with adjustable device 500 to provide 5d-of for manipulation of first object 12 relative to second object 42, 42H, 42U, as generally described above, thereby adding a single dof of rotation about axis A1B (see FIGS. 2, 8, and 9). In the illustrated embodiment, adjustable device 400B is a subset of adjustable device 1000B.

[0024] Similarly, in certain embodiments and in accordance with the principles of the present disclosure, adjustable apparatus 400C may be combined with adjustable apparatus 500 to provide 6d-of for the manipulation of first object 12 relative to second object 52, as generally described above, thereby adding 2d-of of translation along and rotation about axis A1A (see FIGS. 4, 12, and 17). Similarly, in certain embodiments and in accordance with the principles of the present disclosure, adjustable apparatus 400D may be combined with adjustable apparatus 500 to provide 6d-of for the manipulation of first object 12 relative to second object 42, 42H, 42U, thereby adding 2d-of of translation along and rotation about axis A1B (see FIGS. 2, 8, and 9).

[0025] In certain embodiments, and in accordance with the principles of the present disclosure, adjustable apparatus 100A is combined with adjustable apparatus 500, as generally described above, to provide 5d-of of manipulation of first object 12 relative to second objects 42, 42H, 42U, 52, thereby adding a single dof of translation along axis A1 (see FIGS. 13, 57, and 58). In the embodiment shown, adjustable apparatus 100 is a subset of adjustable apparatuses 1000A, 1000B.

[0026] In certain embodiments, and in accordance with the principles of the present disclosure, adjustable device 500 (see FIGS. 14 and 32) can include adjustable device 200 (see FIGS. 15, 25-31, 34-37, and 49-56) and adjustable device 300 (see FIGS. 16, 18-24, 33, and 38-48). In the illustrated embodiment, adjustable devices 200 and 300 are subsets of adjustable device 500. Adjustable devices 200 and 300 can be serviced within adjustable device 500 to position, orient, align, etc., first object 12 relative to second object 42, 42H, 42U, 52, as generally described above. In particular, adjustable device 200 can provide 2d-of including translation along and rotation about axis A2, and adjustable device 300 can provide 2d-of including translation along and rotation about axis A3. As noted above, axes A2 and A3 are mutually orthogonal to each other, at least in the neutral configuration (see FIG. 12).

[0027] 13, 57, and 58, movement (i.e., kinematic movement) of an adjustable device 100 is shown in accordance with the principles of the present disclosure. The adjustable device 100 includes a joint 110 (i.e., a flexure joint, a prismatic joint, etc.) between a first end 102 and a second end 104 of the adjustable device 100. In the embodiment shown, the first end 102 is adjacent to a first set of bends 120 and the second end 104 is adjacent to a second set of bends 130. In other embodiments, the bend sets may extend between the opposing ends 102 and 104. As shown, the first set of bends 120 includes four bends 122, 124, 126, and 128 and the second set of bends 130 includes four bends 132, 134, 136, and 138. The four beams 112, 114, 116, and 118 extend between corresponding flexures 122 and 132, 124 and 134, 126 and 136, and 128 and 138. As shown, the joint 110 is a one-piece flexure joint, and thus a zero-backlash joint. The joint 110 thereby provides an adjustable device 100 with a single dof of linear movement along axis A1 (i.e., ΔZ as shown in FIGS. 57 and 58). Linear adjustment 150 of the joint 110, and thereby a single dof of linear movement along axis A1, can be achieved by rotating an adjuster 152 (i.e., an actuator) in its mount 154, thereby forcing a tip 156 of the adjuster 152 against a push pad 158. The flexure joint 110 is spring loaded, thereby allowing it to hold itself. Thus, flexures 122, 124, 126, 128, 132, 134, 136, 138 and beams 112, 114, 116, 118 can serve as springs 162 and ends 102, 104 can serve as spring mounts 164, 166, respectively, which together function as a linear holding set 160. As shown in Figures 5, 6, and 9, joint 110 can be used to focus microscope 12 on target locations 44, 54. As is known in the art of flexure joints, movement perpendicular to the linear movement along axis A1 (i.e., ΔZ) can be made negligible by appropriate design choices.

[0028] 15, 25-31, 34-37, and 49-56, movement (i.e., kinematic movement) of an adjustable device 200 is shown in accordance with the principles of the present disclosure. The adjustable device 200 includes a joint 210 (see FIG. 27) between a first end 202 and a second end 204 of the adjustable device 200. In the embodiment shown, the first end 202 includes a first element set 220 and the second end 204 includes a second element set 240. In other embodiments, the element sets 220, 240 may be swapped relative to the opposing ends 204, 202. The first and second element sets 220 and 240 may interface with one another to form the joint 210.

[0029] As shown, the first element set 220 includes a first spherical surface 222 (e.g., a ball bearing) and a second spherical surface 224 (e.g., a ball bearing). As shown, the second element set 240 includes a first cylinder 242 (e.g., a dowel pin), a second cylinder 244 (e.g., a dowel pin), a third cylinder 246 (e.g., a dowel pin), and a fourth cylinder 248 (e.g., a dowel pin). In the embodiment shown, the first spherical surface 222 is sandwiched between the first and second cylinders 242 and 244, and the second spherical surface 224 is sandwiched between the third and fourth cylinders 246 and 248. As shown, the cylinders 242, 244, 246, 248 are parallel to each other and to the axis A2. This allows the spherical surfaces 222, 224 to slide along the respective cylinders 242, 244, 246, 248, and thereby along the axis A2. This allows the spherical surfaces 222, 224 to rotate about the axis A2 defined by the centers of the spherical surfaces 222, 224.

[0030] First element set 220 may be sprung against second element set 240 by springs 282 acting in tension within compression triangle 230 such that joint 210 is a zero-backlash joint and may further be kept from separating even when a load is applied to joint 210 that would otherwise separate it. Springs 282 may thereby further serve as a component of rotational retention set 280 and be connected to a first mount 284 on first end 202 and a second mount 286 on second end 204.

[0031] The rotational adjustment set 270 facilitates rotational adjustment of the coupling 210, thereby controlling rotational movement about axis A2. In the embodiment shown, rotating the adjuster 272 (i.e., actuator) in its mount 274 causes a tip 276 of the adjuster 272 to press against a push pad 278, thereby controlling rotational movement about axis A2. The linear adjustment set 250 facilitates linear adjustment of the coupling 210, thereby controlling linear movement along axis A2. In the embodiment shown, rotating the adjuster 252 (i.e., actuator) in its mount 254 causes a tip 256 of the adjuster 252 to press against a push pad 258, thereby controlling linear movement along axis A2.

[0032] The linear retention set 260 can include a tensioned spring 262 that causes preloading of the adjuster 252. The spring 262 can be mounted by a first spring mount 264 on the first end 202 and a second spring mount 266 on the second end 204. The fitting 210 can further include overtravel limits 264, 268.

[0033] The joint 210 thereby provides the adjustable device 200 with 2d-of linear translation along and / or rotation about the axis A2.

[0034] 16, 18-24, 33, and 38-48, movement (i.e., kinematic movement) of an adjustable device 300 is shown in accordance with the principles of the present disclosure. The adjustable device 300 includes a joint 310 (see FIG. 18) between a first end 302 and a second end 304 of the adjustable device 300. In the embodiment shown, the first end 302 includes a first element set 320 and the second end 304 includes a second element set 340. In other embodiments, the element sets 320, 340 may be swapped relative to the opposing ends 304, 302. The first and second element sets 320 and 340 may interface with one another to form the joint 210.

[0035] As shown, the first element set 320 includes a first spherical surface 322 (e.g., a ball bearing) and a second spherical surface 324 (e.g., a ball bearing). As shown, the second element set 340 includes a first cylinder 342 (e.g., a dowel pin), a second cylinder 344 (e.g., a dowel pin), a third cylinder 346 (e.g., a dowel pin), and a fourth cylinder 348 (e.g., a dowel pin). In the embodiment shown, the first spherical surface 222 is sandwiched between the first and second cylinders 342 and 344, and the second spherical surface 324 is sandwiched between the third and fourth cylinders 346 and 348. As shown, the cylinders 342, 344, 346, 348 are parallel to each other and to the axis A3. This allows the spherical surfaces 322, 324 to slide along the respective cylinders 342, 344, 346, 348, and thereby along the axis A3. This allows the spherical surfaces 322, 324 to rotate about the axis A3 defined by the centers of the spherical surfaces 322, 324.

[0036] First element set 320 may be sprung against second element set 340 by springs 382 acting in tension within compression triangle 330 such that joint 310 is a zero-backlash joint and may further be kept from separating even when a load is applied to joint 310 that would otherwise separate it. Springs 382 may thereby further serve as a component of rotational retention set 380 and be connected to a first mount 384 on first end 302 and a second mount 386 on second end 304.

[0037] The rotational adjustment set 370 facilitates rotational adjustment of the joint 310, thereby controlling rotational movement about axis A3. In the embodiment shown, rotating the adjuster 372 (i.e., actuator) in its mount 374 causes a tip 376 of the adjuster 372 to press against a push pad 378, thereby controlling rotational movement about axis A3. The linear adjustment set 350 facilitates linear adjustment of the joint 310, thereby controlling linear movement along axis A3. In the embodiment shown, rotating the adjuster 352 (i.e., actuator) in its mount 354 causes a tip 356 of the adjuster 352 to press against a push pad 358, thereby controlling linear movement along axis A3.

[0038] The linear retention set 360 may include a spring 362 in tension that causes a preload of the adjuster 352. The spring 362 may be mounted by a first spring mount 364 on the first end 302 and a second spring mount 366 on the second end 304. The fitting 210 may further include overtravel limits 334, 364, 368.

[0039] The joint 310 thereby provides the adjustable device 300 with 2d-of linear translation along and / or rotation about the axis A3.

[0040] The spherical surfaces 222, 224, 322, 324 may be mounted on mounts 70 as shown in Figures 25 and 31 such that there is no slope when they are mounted. The cylinders 242, 244, 246, 248, 342, 344, 346, 348 may be mounted on mounts 72 as shown in Figures 20 and 23 such that there is no slope when they are mounted.

[0041] 4, an offset 390 can exist between the actuator 252, 352 and the corresponding spring 262, 362. Such an offset 390 can be beneficial when packaging the components of the adjustable device 200, 300, 500. The springs 282, 382 can be sized to be strong enough that the adjustable device 200, 300, 500 can accommodate such an offset 390. As shown, an offset 390Z separates the center of the actuator 352 and the center of the spring 362 along axis A1, and an offset 390X separates the center of the actuator 352 and the center of the spring 362 along axis A2.

[0042] 12 and 17, movement (i.e., kinematic movement) of an adjustable device 400A is shown in accordance with the principles of the present disclosure. The adjustable device 400A includes a joint 410 between a first end 402 and a second end 404 of the adjustable device 400A. In the embodiment shown, the first end 402 includes a first element set 420 and the second end 404 includes a second element set 440. In other embodiments, the element sets 420, 440 may be swapped relative to the opposing ends 204, 202. The first and second element sets 420 and 440 may interface with each other to form the joint 410. As shown, the first element set 420 includes a bore 422, a first raised contact 424, a second raised contact 426, and a third raised contact 428. Adjacent the bore 422, an index mark 430 is positioned at the first end 402 and extends radially outward from the bore 422. As shown, the second element set 440 includes a cylinder 442 (i.e., a journal) and an index mark 450 positioned at the second end 404 that extends radially inward from the cylinder 442. An axial retainer 444 is shown at the second end 404 (see FIG. 5). In other embodiments, an axial retainer can be at the first and / or second ends 402, 404. The cylinder 442 can have an interference fit with the three raised contacts 422, 424, 426, thereby making the fitting 410 a zero backlash fitting. The fitting 410 thereby provides an adjustable device 400A with a single dof of rotation about the axis A1A. Adjustment of the joint 410, and thereby a single dof of rotation about axis A1A, can be achieved by rotating the protruding portion 446 of the cylinder 442 (i.e., actuating an actuator). As shown in FIG. 6, a second object 52 can be mounted to the second end 404 of the joint 410.

[0043] In certain embodiments, the joint 410 can be configured as a 2d-of joint (see FIGS. 4, 12, and 17) with translation along and rotation about the axis A1A, thereby configuring a joint 410 for an adjustable device 400C, including the joint 410 modified as a joint 410C between the first end 402 and the second end 404 of the adjustable device 400C. For example, the axial retainer 444 of the previous paragraph can be removed, thereby allowing the cylinder 442 and bore 422 (with or without the three raised contacts 422, 424, 426) to act as a 2d-of cylindrical joint 410C. Adjustment of the joint 410C, and thereby the 2d-of adjustment of translation along and / or rotation about the axis A1A, can be accomplished by pushing or pulling and / or rotating the protruding portion 446 of the cylinder 442 (i.e., actuating an actuator).

[0044] 2, 8, and 9, the movement (i.e., kinematic movement) of an adjustable device 400B is shown in accordance with the principles of the present disclosure. The adjustable device 400B includes a joint 460 between a first end 406 and a second end 408 of the adjustable device 400B. In the embodiment shown, the first end 406 includes a first set of elements 470 and the second end 408 includes a second set of elements 480. In other embodiments, the sets of elements 470, 480 may be swapped relative to the opposing ends 406, 408. The first and second sets of elements 470 and 480 may interface with one another to form the joint 460. As shown, the first set of elements 470 includes a clampable bore 472 and a clamp 474. As shown, the second set of elements 480 includes a cylinder 482 (i.e., a journal). An axial retainer 484 is shown at the first end 406 (see FIG. 9). In other embodiments, an axial retainer can be at the first and / or second ends 406, 408. The cylinder 482 can be clamped within the clampable bore 472 by a clamp 474, thereby securing the fitting 460. When unclamped, the cylinder 482 can be rotated within the clampable bore 472, thereby providing the adjustable device 400B with a single dof of rotation about axis A1B. Adjustment of the fitting 460, and thereby a single dof of rotation about axis A1B, can be achieved by rotating the protruding portion of the cylinder 482 (i.e., actuating an actuator).

[0045] In certain embodiments, the joint 460 can be configured as a 2d-of joint with translation along and rotation about the axis A1B, thereby configuring a joint 460 for the adjustable device 400D, including the joint 460 modified as the joint 460D between the first end 406 and the second end 408 of the adjustable device 400D. For example, the axial retainer 484 of the preceding paragraph can be removed, thereby allowing the cylinder 482 and the bore 472 to act as a 2d-of cylindrical joint 410D. Adjustment of the joint 460D, and thereby the 2d-of adjustment of translation along and / or rotation about the axis A1D, can be accomplished by unclamping the clamp 474, pushing or pulling and / or rotating the protruding portion of the cylinder 482 (i.e., actuating the actuator), and then re-clamping the clamp 474.

[0046] The arrangements 500, 1000A, 1000B may be particularly useful in imaging systems that utilize a high degree of precision, including imaging systems used to image particularly small objects (e.g., urine analysis systems or hematology systems used to image blood cells), in which the optical system needs to be carefully calibrated to account for the precision required to image such small target objects.

[0047] According to the principles of the present disclosure, the kinematic mechanism 500 can be used to adjust the instruments 1100A, 1100B, thereby aligning various components therein. As shown in the example embodiment of the present disclosure, the kinematic mechanism 500 includes two translational dofs and two rotational dofs. In certain embodiments, the kinematic mechanism 100 can be further used to adjust the instruments 1100A, 1100B, thereby providing an additional translational dof. In certain embodiments, the kinematic mechanism 400A can be further used to adjust the instrument 1100A, thereby providing an additional rotational dof. In the description and figures herein, the combined kinematic machine 1000A refers to the kinematic mechanisms 100, 400A, 500 assembled together.

[0048] In certain embodiments, the kinematic mechanism 400B may be further used to adjust the device 1100B, thereby providing additional rotational dof. In the description and figures herein, a combined kinematic machine 1000B refers to kinematic mechanisms 100, 400B, 500 assembled together.

[0049] In the description and figures herein, a kinematic body is defined and used to show and describe the kinematic mechanisms 100, 400A, 400B, 500, 1000A, and 1000B and their interrelationships as they move relative to one another.

[0050] The first kinematic body 10 may be connected / fixed to the ground and / or base of the device 1100A, 1100B. In an example embodiment, the body 10 may include an end 102 of a joint 110. The kinematic mechanism 100 connects the body 10 to the second kinematic body 20. In an example embodiment, the body 20 may include an end 104 of a joint 110. As shown in Figures 13, 57, and 58, a 1d-of prismatic joint 110 is used in an example embodiment to connect the first and second kinematic bodies 10, 20 and allow relative linear movement along the first axes A1, A1A, A1B. In other embodiments, other joints may be used.

[0051] As shown in FIG. 14, the kinematic mechanism 500 includes a kinematic mechanism 200 and a kinematic mechanism 300. The kinematic mechanism 200 is further shown in FIGS. 15 and 25-31, and the kinematic mechanism 300 is further shown in FIGS. 16 and 18-24. The kinematic mechanism 200 connects the body 20 to the third kinematic body 30. In an example embodiment, the body 20 can include an end 202 of a joint 210. As shown in FIGS. 27, 35-37, and 49-56, a 2d-of cylindrical joint 210 is used in an example embodiment to connect the second and third kinematic bodies 20, 30 and allow relative linear movement along and relative rotational movement about the second axis A2. In an example embodiment, the body 30 can include an end 204 of a joint 210. The kinematic mechanism 300 connects the body 30 to the fourth kinematic body 40. In an example embodiment, the body 30 can include an end 302 of the joint 310. As shown in Figures 18 and 38-48, a 2d-of cylindrical joint 310 is used in an example embodiment to connect the third and fourth kinematic bodies 30, 40 and allow relative linear movement along and relative rotational movement about the third axis A3. In an example embodiment, the body 40 can include an end 304 of the joint 310.

[0052] As shown in Figures 12 and 17, the fifth kinematic body 50 may be connected to the body 40 by a 1d-of rotation joint (i.e., a pin joint) 410, allowing relative rotational movement around the first axis A1, A1A. In an example embodiment, the body 40 may include an end 402 of the joint 410. In an example embodiment, the body 50 may include an end 404 of the joint 410. As shown in Figure 6, the second object 52 may be mounted to the body 50. Alternatively or additionally, as shown in Figures 8 and 9, the cylinder 482 of the first object 12 may be mounted in a bore 472 connected / fixed to the body 10, thereby allowing relative rotational movement around the first axis A1, A1B. An axial retainer 484 may further be used to form an alternative or additional 1d-of rotation joint between the body 10 and the kinematic body 60.

[0053] 60, a method 600 of using adjustable devices 1000A, 1000B to adjust instruments 1100A, 1100B will be described in accordance with the principles of the present disclosure with reference to FIG. 59. Method 600 begins at start 602 and proceeds to step 604 where the focus of microscope 12 is adjusted by manipulating adjuster 152. Upon completion of step 604, step 606 is performed where the vertical position of microscope 12 is adjusted using adjuster 352. Upon completion of step 606, step 608 is performed where the horizontal position of microscope 12 is adjusted using adjuster 252. Upon completion of step 608, step 610 is performed where the vertical tilt of microscope 12 is adjusted using adjuster 372. Upon completion of step 610, step 612 is performed where the horizontal tilt of microscope 12 is adjusted using adjuster 272. Upon completion of step 612, method 600 ends and end 614 of method 600 is reached.

[0054] 61, a method 700 of using adjustable devices 1000A, 1000B to adjust instruments 1100A, 1100B is described in accordance with the principles of the present disclosure with reference to FIG. 59. Method 700 begins at start 702 and proceeds to step 704 where the focus of microscope 12 is adjusted by manipulating adjuster 152. Once step 704 is completed, step 706 is performed to evaluate the focus quality of step 704. Once step 706 is completed, a decision point 708 is reached and if the focus quality is not acceptable, method 700 loops back to step 704 in loop 752, or if the focus quality is acceptable, method 700 proceeds to step 710. At step 710, the vertical position of microscope 12 is adjusted using adjuster 352. Once step 710 is completed, step 712 is performed to evaluate the quality of the vertical alignment of step 710. Upon completion of step 712, a decision point 714 is reached and if the vertical alignment is not acceptable, the method 700 loops back to step 710 in a loop 752, or if the vertical alignment is acceptable, the method 700 proceeds to step 716. In step 716, the horizontal position of the microscope 12 is adjusted using adjuster 252. Upon completion of step 716, the method 700 proceeds to step 718, where the quality of the horizontal alignment of step 716 is evaluated. Upon completion of step 718, a decision point 720 is reached and if the horizontal alignment is not acceptable, the method 700 loops back to step 716 in a loop 756, or if the horizontal alignment of the microscope 12 is acceptable, the method 700 proceeds to step 722. In step 722, the vertical tilt of the microscope 12 is adjusted using adjuster 372. Upon completion of step 722, the method 700 proceeds to step 724 where the quality of the vertical tilt adjustment of step 722 is evaluated. Upon completion of step 724, a decision point 726 is reached where if the quality of the vertical tilt adjustment is not acceptable, the method 700 loops 758 back to step 722, or if the quality of the vertical tilt adjustment is acceptable, the method 700 proceeds to step 728. In step 728, the horizontal tilt of the microscope 12 is adjusted using adjuster 272.Upon completion of step 728, the method 700 proceeds to step 730 where the quality of the horizontal tilt adjustment of step 728 is evaluated. Upon completion of step 730, a decision point 732 is reached where if the quality of the horizontal tilt is not acceptable, the method 700 returns to step 728 in loop 760, or if the quality of the horizontal tilt is acceptable, the method 700 ends and reaches end 734. Loops 752, 754, 756, 758, and 760, collectively referred to as loop 750, are generally single processes and do not involve multiple processes repetitively.

[0055] 62, a prior art method 800 using a prior art adjustable device to adjust a prior art instrument is now described. The method 800 begins at start 802 and ends at end 804. The method includes several loops 850 for a single adjustment process and several loops 870 for multiple adjustment processes iteratively. The prior art method 800 thereby describes a legacy alignment procedure that accommodates coupled movements in one or more tilt axes.

[0056] 63, a prior art method 900 using a prior art adjustable device to align a prior art instrument is described. The method 900 begins at start 902 and ends at end 904. The method includes several loops 950 for a single adjustment process and several loops 970 iteratively for multiple adjustment processes. The prior art method 900 thereby describes a legacy alignment procedure that accommodates coupled movement in one or more or all axes.

[0057] As shown in Figures 5, 6, 9, 12, 35, 38, 41, 42, 44, 46, 48-50, 52, 54, and 56, the axes A1, A2, and A3 intersect with each other at point P. Such a relationship between the axes A1, A2, and A3 can reduce or eliminate the need for the loops 750, 850, and 950 described above (e.g., by substantially reducing or eliminating cross-coupling of adjustments). Such a relationship between the axes A1, A2, and A3 can further reduce or eliminate the need for the loops 870 and 970 described above (e.g., by substantially reducing or eliminating cross-coupling of adjustments). As shown in Figures 5 and 6, point P can coincide or substantially coincide with the target location 54 of the second object 52. Such a relationship between the axes A1, A2, A3, and P and the target location 54 can reduce or eliminate the need for the loops 750, 850, and 950 described above (e.g., by substantially reducing or eliminating cross-coupling of adjustments). Such a relationship between the axes A1, A2, A3, and P and the target location 54 can further reduce or eliminate the need for the loops 870 and 970 described above (e.g., by substantially reducing or eliminating cross-coupling of adjustments).

[0058] As shown generally in FIG. 11, a control system 90 including a processor 92 and / or an image analyzer 94 may be included in certain embodiments to automate the adjustment of the adjustment devices 500, 1000A, 1000B (including automating the methods 600, 700).

[0059] It will be observed from the foregoing that numerous modifications and variations may be effected without departing from the true spirit and scope of the novel concepts of the present disclosure, and it is understood that no limitation to the particular embodiments illustrated is intended or should be inferred. The present invention also includes the following aspects. <1> 1. An apparatus (500, 1000A, 1000B) configured for adjustably positioning a first body (10, 20, 60) relative to a second body (40, 50), comprising: The first body; the second body; A third body (30); a first coupling (210) configured to adjustably linearly position the first body relative to the third body along a first axis (A2) and further configured to adjustably rotationally position the first body relative to the third body about the first axis (A2); a second coupling (310) configured to adjustably linearly position the second body relative to the third body along a second axis (A3) and further configured to adjustably rotationally position the second body relative to the third body about the second axis (A3); The first and second axes intersect each other at a point (P), the apparatus (500, 1000A, 1000B). <2> 1. An apparatus (500, 1000A, 1000B) configured to adjustably position a focal location (14) of a first instrument (12) of a first body (10, 20, 60) relative to a target location (44, 54) of a second instrument (42, 42H, 42U, 52) of a second body (40, 50), comprising: The first body; the second body; A third body (30); a first coupling (210) configured to adjustably linearly position the first body relative to the third body along a first axis (A2) to thereby effect a first adjustment, and further configured to adjustably rotationally position the first body relative to the third body about the first axis (A2) to thereby effect a second adjustment; a second coupling (310) configured to adjustably linearly position the second body relative to the third body along a second axis (A3) to thereby effect a third adjustment, and further configured to adjustably rotationally position the second body relative to the third body about the second axis (A3) to thereby effect a fourth adjustment; The apparatus (500, 1000A, 1000B) is configured to adjustably position each of the first, second, third, and / or fourth adjustments independently of one another. <3> 1. An apparatus (500, 1000A, 1000B) configured to move a feature (14) of a tool (12) of a first body (10, 20, 60) relative to a target location (44, 54) of a workpiece (42, 52) of a second body (40, 50), comprising: the first body; the second body; A third body (30); a first coupling (210) configured to linearly move the first body relative to the third body along a first axis (A2), thereby performing a first movement, and further configured to rotatably move the first body relative to the third body about the first axis (A2), thereby performing a second movement; a second joint (310) configured to linearly move the second body relative to the third body along a second axis (A3), thereby performing a third movement, and further configured to rotatably move the second body relative to the third body about the second axis (A3), thereby performing a fourth movement; The apparatus (500, 1000A, 1000B) is configured to perform each of the first, second, third, and / or fourth movements independently of each other. <4> 1. An apparatus (500, 1000A, 1000B) configured to move a feature (14) of a first object (12) of a first body (10, 20, 60) relative to a target location (44, 54) of a second object (42, 42H, 42U, 52) of a second body (40, 50), comprising: the first body; the second body; A third body (30); a first coupling (210) configured to linearly move the first body relative to the third body along a first axis (A2), thereby performing a first movement, and further configured to rotatably move the first body relative to the third body about the first axis (A2), thereby performing a second movement; a second joint (310) configured to linearly move the second body relative to the third body along a second axis (A3), thereby performing a third movement, and further configured to rotatably move the second body relative to the third body about the second axis (A3), thereby performing a fourth movement; The apparatus (500, 1000A, 1000B) is configured to perform each of the first, second, third, and / or fourth movements independently of each other. <5> 3. The apparatus of claim 2, wherein performing any of the first, second, third, and / or fourth adjustments does not substantially cross-couple with other adjustments. <6> 5. The apparatus of claim 3 or 4, wherein performing any of the first, second, third and / or fourth movements is not substantially cross-coupled with any other movements. <7> 7. The apparatus according to any one of claims 1 to 6, wherein the first and second axes (A2, A3) are perpendicular to each other. <8> 8. The apparatus according to any one of claims 1 to 7, wherein the first axis (A2) of the first joint is defined between the centers of a pair of spherical surfaces (222, 224). <9> 9. The apparatus of claim 8, wherein each of the spherical surfaces of the first joint engages a pair of cylindrical surfaces (242, 244, 246, 248) of the first joint, respectively. <10> 10. The apparatus according to any one of claims 1 to 9, wherein the second axis (A3) of the second joint is defined between the centers of a pair of spherical surfaces (322, 324). <11> 11. The apparatus of claim 10, wherein each of the spherical surfaces of the second joint engages a pair of cylindrical surfaces (342, 344, 346, 348) of the second joint, respectively. <12> 12. The apparatus of any one of claims 1 to 11, further comprising four actuators (252, 272, 352, 372), each configured to independently adjust the first joint or the second joint linearly or rotationally. <13> 13. The apparatus of claim 12, wherein each of the four actuators is manually adjusted. <14> 13. The apparatus of claim 12, wherein at least one of the four actuators is automatically adjusted. <15> 15. The apparatus of any one of claims 1 to 14, further comprising a third joint (110) configured to linearly adjust and / or move the first body relative to the second body along a third axis (A1). <16> 16. The device of claim 15, wherein the third joint includes at least two bends (122, 124, 126, 128, 132, 134, 136, 138). <17> 17. The apparatus of claim 15 or 16, further comprising a fourth joint (410) configured to rotatably adjust and / or move the first body relative to the second body about the third axis (A1). <18> 18. The apparatus of any one of claims 1 to 17, wherein at least one of the joints is a zero-backlash joint. <19> 19. The apparatus of any of claims 1 to 18, wherein all of the joints are zero-backlash joints. <20> 20. An apparatus as described in any one of claims 1 to 19, wherein at least one of the joints is a minimally constrained joint. <21> 21. An apparatus as described in any one of claims 1 to 20, wherein all of the joints are minimally constrained joints. <22> 22. The device described in any one of claims 1 to 21, wherein at least one of the joints is a spring-loaded joint. <23> 23. An apparatus as described in any one of claims 1 to 22, wherein all of the joints are spring-loaded joints. <24> a device (500, 1000A, 1000B) configured for adjustably positioning a first body (10, 20, 60) relative to a second body (40, 50), said device comprising: The first body; the second body; A third body (30); a first coupling (210) configured to adjustably linearly position the first body relative to the third body along a first axis (A2) and further configured to adjustably rotationally position the first body relative to the third body about the first axis (A2); a second coupling (310) configured to adjustably linearly position the second body relative to the third body along a second axis (A3) and further configured to adjustably rotationally position the second body relative to the third body about the second axis (A3); The first and second axes intersect each other at a point (P), the apparatus (1100A, 1100B). <25> a device (500, 1000A, 1000B) configured for adjustably positioning a focal location (14) of a first instrument (12) of a first body (10, 20, 60) relative to a target location (44, 54) of a second instrument (42, 42H, 42U, 52) of a second body (40, 50), said device comprising: the first body; the second body; A third body (30); a first coupling (210) configured to adjustably linearly position the first body relative to the third body along a first axis (A2) to thereby effect a first adjustment, and further configured to adjustably rotationally position the first body relative to the third body about the first axis (A2) to thereby effect a second adjustment; a second coupling (310) configured to adjustably linearly position the second body relative to the third body along a second axis (A3) to thereby effect a third adjustment, and further configured to adjustably rotationally position the second body relative to the third body about the second axis (A3) to thereby effect a fourth adjustment; The apparatus is configured to adjustably position each of the first, second, third, and / or fourth adjustments independently of one another, the apparatus (1100A, 1100B). <26> a device (500, 1000A, 1000B) configured to move a feature (14) of a first object (12) of a first body (10, 20, 60) relative to a target location (44, 54) of a second object (42, 42H, 42U, 52) of a second body (40, 50), said device comprising: the first body; the second body; A third body (30); a first coupling (210) configured to linearly move the first body relative to the third body along a first axis (A2), thereby performing a first movement, and further configured to rotatably move the first body relative to the third body about the first axis (A2), thereby performing a second movement; a second joint (310) configured to linearly move the second body relative to the third body along a second axis (A3), thereby performing a third movement, and further configured to rotatably move the second body relative to the third body about the second axis (A3), thereby performing a fourth movement; The apparatus is configured to perform each of the first, second, third, and / or fourth movements independently of one another, the apparatus (1100A, 1100B). <27> 26. The apparatus of claim 25, wherein performing any of the first, second, third, and / or fourth adjustments does not substantially cross-couple with other adjustments. <28> 27. The apparatus of claim 26, wherein performing any of the first, second, third, and / or fourth movements is not substantially cross-coupled with any other movements. <29> 29. An apparatus as described in any one of claims 24 to 28, wherein the first and second axes (A2, A3) are perpendicular to each other. <30> 30. The device according to any one of claims 24 to 29, wherein the first axis (A2) of the first joint is defined between the centers of a pair of spherical surfaces (222, 224). <31> 31. The device of claim 30, wherein each of the spherical surfaces of the first joint respectively engages a pair of cylindrical surfaces (242, 244, 246, 248) of the first joint. <32> 32. The device according to any one of claims 24 to 31, wherein the second axis (A3) of the second joint is defined between the centers of a pair of spherical surfaces (322, 324). <33> 33. The device of claim 32, wherein each of the spherical surfaces of the second joint respectively engages a pair of cylindrical surfaces (342, 344, 346, 348) of the second joint. <34> 34. The device of any of claims 24 to 33, further comprising four actuators (252, 272, 352, 372), each configured to independently adjust the first joint or the second joint linearly or rotationally. <35> 35. The apparatus of claim 34, wherein each of the four actuators is manually adjusted. <36> 35. The apparatus of claim 34, wherein at least one of the four actuators is automatically adjusted. <37> 37. The device of any of claims 24 to 36, further comprising a third joint (110) configured to linearly adjust and / or move the first body relative to the second body along a third axis (A1). <38> 38. The device of claim 37, wherein the third joint includes at least two bends (122, 124, 126, 128, 132, 134, 136, 138). <39> 39. The device described in claim 37 or 38, further comprising a fourth joint (410) configured to rotatably adjust and / or move the first body relative to the second body about the third axis (A1). <40> 40. The apparatus of any one of claims 24 to 39, wherein at least one of the joints is a zero-backlash joint. <41> 41. The apparatus of any of claims 24 to 40, wherein all of the joints are zero-backlash joints. <42> 42. An apparatus as described in any one of claims 24 to 41, wherein at least one of the joints is a minimally constrained joint. <43> 43. The device of any of claims 24 to 42, wherein all of the joints are minimally constrained joints. <44> 44. An apparatus as described in any one of claims 24 to 43, wherein at least one of the joints is a spring-loaded joint. <45> 45. An apparatus as described in any one of claims 24 to 44, wherein all of the joints are spring-loaded joints. <46> 46. ​​The apparatus according to any one of claims 24 to 45, which is a urine test analyzer. <47> 46. ​​An apparatus according to any one of claims 24 to 45, which is a hematology analyzer. [Explanation of symbols]

[0060] 10, 20, 60 First Body 12 First equipment, tool, first object 14 Focus Places, Features 30 The Third Body 40, 50 Second body 42, 42H, 42U, 52 Second equipment, second object 42, 52 Workpiece 44, 54 Target Location 110 Third Joint 210 First Joint 310 Second Joint 410 Fourth Joint 122, 124, 126, 128, 132, 134, 136, 138 Bends 222, 224, 322, 324 spherical surface 242, 244, 246, 248, 342, 344, 346, 348 Cylinder surface 252, 272, 352, 372 Actuators 500, 1000A, 1000B equipment 1100A, 1100B equipment A1 The third axis A2 First axis A3 Second axis P point

Claims

1. 1. An apparatus configured to adjustably position a first body relative to a second body, comprising: the first body; the second body; A third body; and a first coupling configured to adjustably linearly position the first body relative to the third body along a first axis and further configured to adjustably rotationally position the first body relative to the third body about the first axis; a second coupling configured to adjustably linearly position the second body relative to the third body along a second axis and further configured to adjustably rotationally position the second body relative to the third body about the second axis; The first and second axes intersect each other at a point.

2. 1. An apparatus configured to adjustably position a focal location of a first instrument mounted on a first body relative to a target location of a second instrument mounted on a second body, comprising: the first body and the first instrument, wherein the first instrument is an analytical device; the second body and the second device; A third body; and a first coupling configured to adjustably linearly position the first body relative to the third body along a first axis to thereby effect a first adjustment, and further configured to adjustably rotationally position the first body relative to the third body about the first axis to thereby effect a second adjustment; a second coupling configured to adjustably linearly position the second body relative to the third body along a second axis to thereby effect a third adjustment, and further configured to adjustably rotationally position the second body relative to the third body about the second axis to thereby effect a fourth adjustment; The apparatus is configured to adjustably position each of the first, second, third, and / or fourth adjustments independently of one another.

3. 3. The apparatus of claim 2, wherein performing any of the first, second, third, and / or fourth adjustments is not cross-coupled with other adjustments.

4. The apparatus of claim 1 or 2, wherein the first and second axes are mutually orthogonal.

5. An apparatus as described in claim 1 or 2, wherein the first joint includes a pair of spherical surfaces, and the first axis of the first joint is defined between the centers of the pair of spherical surfaces.

6. The apparatus described in claim 5, wherein the first joint includes a pair of cylindrical surfaces, and each of the spherical surfaces of the first joint engages respectively with the pair of cylindrical surfaces of the first joint.

7. An apparatus as described in claim 1 or 2, wherein the second joint includes a pair of spherical surfaces, and the second axis of the second joint is defined between the centers of the pair of spherical surfaces.

8. The apparatus described in claim 7, wherein the second joint includes a pair of cylindrical surfaces, and each of the spherical surfaces of the second joint respectively engages with the pair of cylindrical surfaces of the second joint.

9. 3. The apparatus of claim 1 or 2, further comprising four actuators, each actuator configured to independently adjust the first joint or the second joint linearly or rotationally, respectively.

10. 3. The apparatus of claim 1 or 2, further comprising a third joint configured to linearly adjust and / or move the first body relative to the second body along a third axis.

11. The apparatus of claim 10 , wherein the third joint includes at least two bends.

12. The apparatus of claim 10 , further comprising a fourth joint configured to rotatably adjust and / or move the first body relative to the second body about the third axis.

13. 13. The apparatus of claim 12, wherein all of the joints are zero-backlash joints.

14. The apparatus of claim 12 , wherein all of the joints are minimally constrained joints.

15. 13. The apparatus of claim 12, wherein all of the joints are spring-loaded joints. The equipment listed.

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