Integrated micro-motion platform, pre-positioning mechanism, and medical assistant robot

Abstract

An integrated micro-motion platform and a medical assistant robot comprising the integrated micro-motion platform. Due to a compact overall structural design, the outline dimension and mass of the micro-motion platform can be minimized. The integrated micro-motion platform comprises: a platform seat; a first planar motion mechanism, wherein the first planar motion mechanism is arranged on the platform seat and can be actuated to move within a first motion plane; a second planar motion mechanism, wherein the second planar motion mechanism is arranged on the platform seat and can be actuated to move within a second motion plane parallel to the first motion plane; and a guide rod assembly, wherein the guide rod assembly penetrates through the platform seat in a manner of penetrating through the first motion plane and the second motion plane that are parallel, and the guide rod assembly is centrally arranged. One end of the guide rod assembly is connected to the first planar motion mechanism by means of a first hinge mechanism, and the other end is connected to the second planar motion mechanism by means of a second hinge mechanism.

Description

Integrated micro-motion platform, pre-positioning mechanism and medical assistive robot Technical Field

[0001] This disclosure relates to medical assistive robots such as puncture robots, and more specifically to an integrated micro-motion platform capable of having two degrees of freedom (translation and swing) in two directions respectively (a total of four degrees of freedom), including the integrated micro-motion platform and a prepositioning mechanism (also known as a "macro-motion platform") capable of having two additional degrees of freedom (translation and swing) in two directions respectively (a total of four degrees of freedom) independently of the four degrees of freedom of the integrated micro-motion platform, and a medical assistive robot including the prepositioning mechanism and having at least eight different degrees of freedom. Background Technology

[0002] Puncture surgery is a common type of surgical procedure in clinical surgery.

[0003] In traditional puncture surgery, the location of the puncture needle is generally confirmed based on the patient's CT images to pinpoint the lesion. The doctor then roughly determines the puncture path and performs the puncture. For example, neurosurgical procedures such as neurointerventional neurosurgery involve introducing instruments into the patient's brain through a puncture incision or catheter for treatment or examination. Deep brain stimulation (DBS) is a technique for reversibly modulating the brain. It involves surgically implanting electrodes into specific brain regions to send electrical pulses of a certain frequency, modulating abnormal brain electrical activity to improve or treat diseases. However, in deep brain stimulation (DBS) implantation surgery, imaging equipment (i.e., MRI) is used to scan and image the brain to aid in localization before the electrodes are placed.

[0004] In recent years, the emergence of stereotactic technology has helped doctors to locate surgical paths using more scientific methods. As shown in Figure 1A, the medical assistive robot 1' is connected to the patient table 2' or other fixed object (such as a wall) via a robotic arm 50'. The robotic arm 50' serves as a pre-positioning mechanism (also known as a "macro-motion platform"), allowing the robotic arm 50' of the medical assistive robot 1' to macro-motion (i.e., large-scale movement) relative to the patient 3' on the patient table 2'. For example, the instrument end of the robotic arm 50' (i.e., the end with the instrument 30') can be moved directly above or away from the patient 3'. Alternatively, as shown in Figure 1B, the existing medical assistive robot 1' can also be mounted on a trolley 60' via the robotic arm 50'.

[0005] In addition, existing medical assistive robots 1' such as puncture robots have actuators or other actuators 40' connected to the instrument end of the robotic arm 50' in a separate manner from the robotic arm 50' of the medical assistive robot 1'. The actuators 40' enable the instruments 30' connected to the actuators 40' to move freely in a manner with multiple degrees of freedom.

[0006] However, in existing technologies, due to the limited degrees of freedom in the pre-positioning adjustment of the robotic arm 50', the pre-positioning range of the robotic arm 50' as a pre-positioning mechanism is limited by its installation position relative to the patient table 2' or other fixed objects, and there is a pre-positioning dead zone. Therefore, before each surgery, it is necessary to reconnect the robotic arm 50' to the patient table 2' or other fixed objects according to the different surgical locations, which is cumbersome and cannot quickly move the instrument 30' set at the instrument end of the robotic arm 50' to the vicinity of the surgical area. In addition, the robotic arm 50' is not compatible with the aperture of large imaging equipment (such as CT and MRI machines) in terms of shape. Therefore, it is necessary to design a pre-positioning mechanism that can minimize the pre-positioning dead zone, quickly move the instrument 30' to the vicinity of the surgical area, and is compatible with the aperture of imaging equipment.

[0007] Furthermore, in existing technologies, the actuator 40' connected to the instrument end of the robotic arm 50' is large in size, occupying a significant amount of space near the surgical area. On the one hand, the large actuator 40' has low motion precision, preventing the instrument 30' from performing minute movements (micromotions) for precise puncture at the lesion location. On the other hand, when using the medical-assisted robot 1' for assisted punctures or other surgeries, the large actuator 40' interferes with the robot's positioning and navigation. Therefore, it is necessary to design a compact micromotion platform (i.e., end effector) to improve the surgical performance of the medical-assisted robot.

[0008] Furthermore, when traditional actuators and other actuators 40' operate in special surgical environments with strong magnetic fields, such as MRI, they can affect the positioning and navigation performance of the medical assistive robot 1', and may even pose safety risks. Therefore, it is necessary to design a micro-motion platform and pre-positioning mechanism that are compatible with different surgical environments to broaden the application range of the medical assistive robot. Summary of the Invention

[0009] This disclosure is made to solve the above-mentioned problems in the prior art, and one of its main objectives is to provide an integrated micro-motion platform with a compact overall structural design that minimizes the size and weight of the micro-motion platform.

[0010] Another primary objective of this disclosure is to provide a prepositioning mechanism that minimizes the prepositioning dead zone, enables rapid movement of instruments of a medical assistive robot to the vicinity of the surgical area, and is compatible with the aperture of imaging equipment.

[0011] A secondary objective of this disclosure is to provide an integrated micro-motion platform and prepositioning mechanism that can reduce the impact of specific surgical environments on the performance of the micro-motion platform and prepositioning mechanism, thereby broadening the application of the product.

[0012] Another objective of this disclosure is to provide a medical assistive robot comprising the aforementioned integrated micro-motion platform and prepositioning mechanism.

[0013] To address the aforementioned primary objective, this disclosure provides an integrated micro-motion platform, characterized by comprising: a platform base; a first planar motion mechanism disposed on the platform base and actuated to move within a first motion plane; a second planar motion mechanism disposed on the platform base and actuated to move within a second motion plane parallel to the first motion plane, independently of the movement of the first planar motion mechanism within the first motion plane; and a guide rod assembly passing through the platform base and centrally disposed therethrough, with one end connected to the first planar motion mechanism via a first hinge mechanism and the other end connected to the second planar motion mechanism via a second hinge mechanism.

[0014] As described above, the first planar motion mechanism and the second planar motion mechanism can move independently within the parallel first and second motion planes (each with two degrees of freedom). This makes it easier to form a compact structure that minimizes interference between them. Furthermore, the guide rod assembly passes through the platform base by traversing the parallel first and second motion planes, thereby superimposing the two degrees of freedom at one end of the guide rod assembly with the two degrees of freedom at the other end to achieve four degrees of freedom motion. Additionally, because the guide rod assembly is centrally located, the travel distance of any end of the guide rod assembly in all four directions within the corresponding motion plane is equal. This eliminates the need for larger actuators for excessive travel in any one direction, resulting in a more compact overall structure and minimizing the size and weight of the micro-motion platform.

[0015] Optionally, the integrated micro-motion platform further includes a first actuator capable of actuating the first planar motion mechanism and a second actuator capable of actuating the second planar motion mechanism, wherein the first actuator and the second actuator are fixedly disposed on the platform base.

[0016] As described above, the actuator that can be used to actuate the planar motion mechanism is fixedly installed inside the platform base without having to move with the planar motion mechanism. This reduces the risk of collision between the actuator and other components within the device. Furthermore, compared to the planar motion mechanism and the actuator moving together, a single planar motion mechanism is lighter. Therefore, by moving only a single planar motion mechanism within its corresponding motion plane, the motion control accuracy of the integrated micro-motion platform can be improved.

[0017] As an optional example, the first actuator is a pair of first drive motors arranged side by side, and the second actuator is a pair of second drive motors arranged side by side. The pair of first drive motors and the pair of second drive motors are arranged side by side with opposite orientations inside the platform base, respectively, along directions perpendicular to the first plane and the second plane. Furthermore, the first planar motion mechanism and the second planar motion mechanism are respectively an upper planar linkage mechanism and a lower planar linkage mechanism with four links, including a first link, two intermediate links, and a second link sequentially connected and hinged between the pair of first drive motors or the pair of second drive motors. The upper planar linkage mechanism, formed by the hinged connection of the first link, the two intermediate links, and the second link, and the lower planar linkage mechanism, formed by the hinged connection of the first link, the two intermediate links, and the second link, are arranged with opposite orientations. Furthermore, hinge sleeves are respectively provided at the hinge positions of the two intermediate connecting rods of the upper plane linkage mechanism and the lower plane linkage mechanism, thereby forming a positioning channel at the central position of the platform base between the pair of first drive motors and the pair of second drive motors. The guide rod assembly passes through the two hinge sleeves and is disposed in the positioning channel. Even further, one end of the guide rod assembly is connected to the hinge sleeve of the upper plane linkage mechanism via a ball joint, and the other end of the guide rod assembly is connected to the hinge sleeve of the lower plane linkage mechanism via a ball joint.

[0018] According to the configuration described above, the device mounted on the guide rod assembly of the integrated micro-motion platform can not only have the motion freedom to insert and withdraw along the extension direction of the guide rod assembly, but also provide four degrees of freedom of motion: planar movement in a plane (first plane, second plane) perpendicular to the extension direction of the central connecting rod, and swinging in two directions.

[0019] Alternatively, instead of providing a positioning channel, the automatic needle-feeding assembly, which serves as the guide rod assembly, can be positioned centrally on the platform base between a pair of first drive motors and a pair of second drive motors, passing through two hinged sleeves. That is, the guide rod assembly includes an automatic needle-feeding assembly, which comprises a piston cylinder having an outer cylinder, a piston member, and an inner cylinder. The outer cylinder and the inner cylinder are fixedly connected at the top. The piston member is constrained in a hollow portion between the outer and inner cylinders, and its end extends outward from the hollow portion of the piston cylinder. Furthermore, the instrument can be fixed to the piston member through an instrument fixing hole formed at its outwardly extending end, and protrude from the piston member.

[0020] As described above, by simply controlling the injection of a fixed amount of liquid or gas from the upper or lower end of the piston member into the sealed piston cylinder formed by the outer cylinder of the piston cylinder, the piston member, and the inner cylinder of the piston cylinder, the piston member can be moved upward or downward a predetermined distance, thereby driving the instrument to move upward or downward, thus achieving automatic needle insertion.

[0021] As another example, the first actuator includes a pair of first drive components, and the second actuator includes a pair of second drive components. The first drive components and the second drive components are a piezoelectric motor assembly and a hydraulic cylinder assembly, and each has a lead screw with a lead screw nut or a piston rod with a sliding sleeve.

[0022] One example is that the pair of first drive components includes a first X-axis actuation component and a first Y-axis actuation component, and the pair of second drive components includes a second X-axis actuation component and a second Y-axis actuation component. The first planar motion mechanism and the second planar motion mechanism are respectively an upper planar linkage mechanism and a lower planar linkage mechanism including a first sliding rod and a second sliding rod. One end of the first sliding rod is hinged to the hinge fixing part of the platform base. Sliding guide grooves are respectively provided on the middle part of the first sliding rod and one end of the second sliding rod. The lead screw nut or the sliding sleeve provided on the lead screw or piston rod of the pair of first drive components and the pair of second drive components is embedded in the sliding guide groove to actuate the first sliding rod and the second sliding rod. The other end of the first sliding rod is hinged to the middle part of the second sliding rod, and the two ends of the guide rod assembly are respectively hinged to the other end of the second sliding rod.

[0023] Another example is that the pair of first drive components are arranged in the same orientation in the first motion plane, and the pair of second drive components are arranged in the same orientation in the second motion plane. The orientation of the pair of first drive components is the same as or opposite to that of the pair of second drive components. The first planar motion mechanism and the second planar motion mechanism are respectively an upper planar linkage mechanism and a lower planar linkage mechanism including a first link and a second link. One end of each of the first link and the second link is hinged to the lead screw nut or the sliding sleeve provided on the corresponding lead screw or the piston rod. The two ends of the guide rod assembly are respectively hinged to the other ends of the first link and the second link.

[0024] Another example is that a pair of first drive components and a pair of second drive components are respectively fixed to the corresponding motor mounting parts inside the platform base by hinges. The first planar motion mechanism and the second planar motion mechanism are respectively an upper plane passive piston and a lower plane passive piston. The upper plane passive piston and the lower plane passive piston each include a piston body and a piston telescopic rod. Two first hinge holes are provided on the piston body for hinged to the lead screw nut or sliding sleeve provided on the first lead screw or piston rod of the first drive component or the second drive component. The two ends of the guide rod assembly are respectively hinged to the middle part of the piston body. A hinge fixing hole is provided on the piston telescopic rod for hinged to the hinge fixing part provided inside the platform base.

[0025] Alternatively, the first and second hinge mechanisms may be ball-joint mechanisms comprising a ball-joint body, a hinge ball, and a ball-joint cover. The ball-joint body of the first hinge mechanism is disposed on or integrally formed with the first planar motion mechanism, and the ball-joint body of the second hinge mechanism is disposed on or integrally formed with the second planar motion mechanism. Furthermore, one end of the guide rod assembly is integrally formed with the hinge ball of one of the ball-joint mechanisms, while the other end is slidably connected to the hinge ball of the other ball-joint mechanism.

[0026] According to the configuration described above, the two ends of the guide rod assembly are connected by, for example, a ball joint mechanism. When the first planar motion mechanism and the second planar motion mechanism are out of sync, since one end of the guide rod assembly is integrally formed in one of the hinge mechanisms, while the other end of the guide rod assembly is slidably connected to the other hinge mechanism, the guide rod assembly is given two degrees of freedom to swing relative to the X and Y directions.

[0027] Any of the above examples can achieve the same or substantially the same functions and effects as the aforementioned optional examples.

[0028] To address the aforementioned other primary objective, this disclosure provides a pre-positioning mechanism. The main structure of the pre-positioning mechanism is arc-shaped and includes an arc and a micro-motion platform mounting bracket mounted on the arc. The characteristic feature is that any one of the aforementioned integrated micro-motion platforms is mounted on the micro-motion platform mounting bracket.

[0029] As described above, the pre-positioning mechanism features an arc-shaped main structure, resulting in good compatibility with interfaces of large imaging equipment (such as CT and MRI machines). This facilitates its application on different platforms, broadening its scope of use. For example, non-magnetic materials, such as polymers, copper alloys, ceramics, and titanium alloys, are preferred to meet magnetic compatibility requirements. This allows it to operate normally in an MR environment without affecting the normal performance of the MR system. Consequently, the impact of specific surgical environments on the performance of the micro-motion platform is reduced, expanding the product's application avenues.

[0030] Optionally, the pre-positioning mechanism includes a base translation component, an arc lifting component, an arc-on-arc motion component, and a micro-motion platform swing component. The base translation component is configured to translate the base of the pre-positioning mechanism. The arc lifting component is configured to raise and lower the arc relative to the base of the pre-positioning mechanism. The arc-on-arc motion component is disposed in the micro-motion platform fixing frame and is used to move the micro-motion platform fixing frame on the arc of the arc. The micro-motion platform swing component is disposed on the micro-motion platform fixing frame and is used to swing the integrated micro-motion platform disposed on the micro-motion platform fixing frame.

[0031] Furthermore, the pre-positioning mechanism has four degrees of freedom for adjusting the integrated micro-motion platform fixed on the micro-motion platform mounting frame, and the base translation component, the arc lifting component, the arc motion component, and the micro-motion platform swing component are manually adjusted using manual actuators.

[0032] As described above, through the combined action of the four components—the base translation assembly, the arc lifting assembly, the arc motion assembly, and the micro-motion platform swing assembly—the pre-positioning mechanism enables the integrated micro-motion platform, fixed to the micro-motion platform holder, to achieve two degrees of freedom (four in total) in both the X and Y directions: translation and swing. Therefore, when the patient on the patient table is below the pre-positioning mechanism, the integrated micro-motion platform fixed to the pre-positioning mechanism's micro-motion platform holder has a large adjustable range relative to the patient's macro-motion (i.e., large-amplitude movement), essentially covering all surgical sites and angles for the patient on the patient table, thereby reducing the pre-positioning dead zone. Furthermore, the translation in the X and Y directions and the swing around the X and Y directions can be adjusted via corresponding manual actuators, allowing the instruments mounted on the integrated micro-motion platform to be quickly moved to the vicinity of the surgical area.

[0033] As an example of a base translation assembly, the base translation assembly includes a fixed base, a movable base, and a guide slider. The movable base is constrained to the fixed base by the guide slider, and the movement of the movable base relative to the fixed base can be restricted or allowed by a translation locking knob provided on the movable base.

[0034] As described above, by translating the base of the prepositioning mechanism through the base translation component, the movement of the integrated micro-motion platform fixed on the micro-motion platform mounting frame in the Y direction can be realized.

[0035] As an example of an arc bow lifting assembly, the arc bow lifting assembly includes an arc bow fixing base, an arc bow connecting seat connected to both ends of the arc bow, a lifting shaft, and a shaft fixing plate. The lifting shaft is configured to restrict or allow relative rotation of the lifting shaft relative to the arc bow fixing base by a lifting locking knob disposed on the arc bow fixing base, and the relative rotation of the lifting shaft relative to the arc bow connecting seat is restricted by the shaft fixing plate. The arc bow connecting seat, the shaft fixing plate, and the lifting shaft can rotate relative to the arc bow fixing base as a whole.

[0036] As described above, by raising and lowering the arc bow relative to the base of the pre-positioning mechanism through the arc bow lifting assembly, the integrated micro-motion platform fixed on the micro-motion platform mounting frame can swing around the X direction.

[0037] Optionally, the bow lifting assembly includes a quick-release mechanism that detachably connects the bow connecting seat to the rotating shaft fixing plate.

[0038] As described above, when it is necessary to adjust the swing position of the prepositioning mechanism around the X-direction, the front end of the quick-release mechanism is inserted into the slot of the rotating shaft fixing plate, and the locking knob is released relative to the locking slot. At this time, by operating (e.g., rotating) the arc bow, the arc bow connecting seat connected to the arc bow can be raised or lowered relative to the arc bow fixing base fixed to the movable base to the specified swing position. Then, the locking knob is tightened relative to the locking slot. If, in a subsequent procedure, such as surgery, the surgical robot is not needed temporarily and the arc bow connecting seat connected to the arc bow needs to be temporarily lowered relative to the arc bow fixing base, the quick-release mechanism can be pulled out of the slot of the rotating shaft fixing plate to quickly lower the arc bow connecting seat and the arc bow, increasing the surgeon's operating space and assisting them in performing the surgery better. Furthermore, when it is needed again, the quick-release mechanism can be reinserted into the slot of the rotating shaft fixing plate to quickly return to the previously specified swing position without needing to readjust the swing of the prepositioning mechanism around the X-direction.

[0039] As an example of an arc motion assembly, the arc motion assembly includes multiple limiting guide parts installed inside the micro-motion platform fixture and interconnected with each other, and an arc rotation locking knob for locking the multiple limiting guide parts. Each limiting guide part is composed of a first vertical guide post, a second vertical guide post, a first horizontal guide post, and a second horizontal guide post, and is aligned with the outer peripheral surface of the arc bow from four directions and provides limiting guidance to the arc bow.

[0040] As described above, by using the arc motion assembly to move the micro-motion platform mounting frame on the arc of the arc, the integrated micro-motion platform fixed on the micro-motion platform mounting frame can move in the X direction.

[0041] Optionally, either the first vertical guide post and the second vertical guide post, and / or either the first horizontal guide post and the second horizontal guide post, is a non-adjustable guide post with a sleeve fitted on it, and provides limiting guidance to the arc from one of the opposing sides. The other of the first vertical guide post and the second vertical guide post, and / or the other of the first horizontal guide post and the second horizontal guide post, is an adjustable guide post with an eccentric sleeve fitted on it, and provides limiting guidance to the arc from the other of the opposing sides. By adjusting the eccentric portion, one of the limiting guide portions can adjust the spacing between the guide posts independently of the other limiting guide portions.

[0042] Due to manufacturing dimensional errors, multiple limiting guides may not be able to fit tightly against the outer surface of the arc bow in all directions. In this case, according to the configuration described above, by adjusting the eccentric part, one of the limiting guides can adjust the spacing between the guide posts in the selected direction independently of the other limiting guides to compensate for the loose fit caused by manufacturing dimensional errors, etc.

[0043] As an example of a micro-motion platform swing assembly, the micro-motion platform swing assembly includes a swing shaft, a swing locking plate, a swing locking force transmission component, and a swing locking knob. The swing shaft is fixedly connected to the platform base of the integrated micro-motion platform and is disposed in the corresponding hole of the micro-motion platform fixing frame. The swing locking plate is constrained in the corresponding groove of the micro-motion platform fixing frame and its inner surface can move radially along the swing shaft and fit against the outer surface of the swing shaft. The swing locking force transmission component is concentrically arranged with the swing shaft and its inner surface fits against the inclined surface of the outer surface of the swing locking plate. The swing locking knob is disposed on the outer surface of the swing locking force transmission component.

[0044] As described above, by using the micro-motion platform swing assembly to swing the integrated micro-motion platform mounted on the micro-motion platform fixture, the integrated micro-motion platform fixed on the micro-motion platform fixture can be made to swing around the Y direction.

[0045] In addition, this disclosure also provides a medical assistive robot, including any of the aforementioned prepositioning mechanisms. Attached Figure Description

[0046] Figures 1A and 1B are schematic diagrams illustrating existing medical assistive robots.

[0047] Figures 2A to 2C are schematic diagrams illustrating the medical assistive robot of this disclosure in use.

[0048] Figure 3 is a schematic diagram showing the overall structure of the prepositioning mechanism in the medical assistive robot of this disclosure shown in Figure 2A.

[0049] Figure 4 is a schematic diagram showing the overall structure of the integrated micro-motion platform mounted on the prepositioning mechanism in the medical assistive robot of this disclosure shown in Figure 2A.

[0050] Figure 5 is a perspective view of the base translation assembly constituting the prepositioning mechanism of Embodiment 1 of this disclosure.

[0051] Figures 6(a), 6(b) and 6(c) show a schematic structure of an example of the arc-bow lifting assembly of the prepositioning mechanism of Embodiment 1 of this disclosure, wherein Figure 6(a) is a schematic perspective view viewed from one direction, Figure 6(b) is a partial cross-sectional view along Figure 6(a), and Figure 6(c) is a side view of the end faces of the arc-bow fixing base and the arc-bow connecting seat viewed from the side.

[0052] Figures 7(a), 7(b) and 7(c) show a schematic structure of the arc lifting assembly of another example of the prepositioning mechanism of Embodiment 1 of this disclosure, wherein Figure 7(a) is a schematic perspective view viewed from one direction, Figure 7(b) is a partial cross-sectional view along Figure 7(a), and Figure 7(c) is a side view of the end faces of the arc fixing base and the arc connecting seat viewed from the side.

[0053] Figure 8 is a perspective view of the micro-motion platform fixing frame mounted on the arc bow of the pre-positioning mechanism of Embodiment 1 of this disclosure.

[0054] Figures 9(a) and 9(b) show a schematic structure of the prepositioning mechanism of Embodiment 1 of this disclosure, which is disposed in the micro-motion platform fixture and used to move the micro-motion platform fixture on the arc of the arc bow. Figure 9(a) is a schematic perspective view of each component of the arc motion assembly, and Figure 9(b) is a schematic diagram of the configuration relationship between the arc motion assembly disposed in the micro-motion platform fixture and the arc bow.

[0055] Figure 10 is a perspective view of a micro-motion platform swing assembly, which is a pre-positioning mechanism of Embodiment 1 of the present disclosure, mounted on a micro-motion platform fixture and used to swing an integrated micro-motion platform mounted on the micro-motion platform fixture.

[0056] Figures 11 to 13 show the overall structure of the integrated micro-motion platform of Embodiment 2A of this disclosure, wherein Figure 11 is a schematic perspective view viewed from one direction, Figure 12 is a schematic perspective view viewed from the front, and Figure 13 is a cross-sectional perspective view cut along line A1-A1 of Figure 12.

[0057] Figures 14(a) to 14(d) show the translational and swinging motions of the lower plane linkage mechanism of the integrated micro-motion platform of Embodiment 2A of this disclosure, viewed from below. Figures 14(a) to 14(d) are bottom-view schematic diagrams of the translational motion, and Figures 14(e) and 14(f) are bottom-view schematic diagrams of the swinging motion.

[0058] Figure 15 is a top view of the upper plane motion mechanism of the integrated micro-motion platform of Embodiment 2B of this disclosure.

[0059] Figure 16 is a top view of the upper plane motion mechanism of the integrated micro-motion platform of Embodiment 2C of this disclosure.

[0060] Figure 17 is a top view of the upper plane motion mechanism of the integrated micro-motion platform of Embodiment 2D of this disclosure.

[0061] Figures 18(a) and 18(b) show the connection between the upper plane ball joint mechanism and the upper plane ball joint translation mechanism as the first hinge mechanism. Figure 18(b) is a perspective view of the A2-A2 section of Figure 18(a).

[0062] Figures 19(a) and 19(b) show the connection between the lower plane ball joint mechanism and the lower plane translation mechanism as the second hinge mechanism. Figure 19(b) is a perspective view of the A3-A3 section of Figure 19(a).

[0063] Figures 20(a) and 20(b) show a modified example of the structure of the first hinge mechanism and the second hinge mechanism in the integrated micro-motion platform of this disclosure, wherein Figure 20(a) is a schematic perspective view viewed from one direction, and Figure 20(b) is a cross-sectional perspective view cut along line A4-A4 of Figure 20(a).

[0064] Figures 21(a) and 21(b) show schematic structures of the automatic needle feeding assembly, wherein Figure 21(a) is a perspective view of the automatic needle feeding assembly and Figure 21(b) is a cross-sectional perspective view of Figure 21(a). Detailed Implementation

[0065] First, referring to Figures 2A to 2C, 3, and 4, the medical assistive robot 1 of this disclosure, the prepositioning mechanism 20 of the medical assistive robot 1, and the integrated micro-motion platform 10 installed on the prepositioning mechanism 20 will be schematically described. Figures 2A to 2C are schematic diagrams showing the medical assistive robot 1 of this disclosure in use, Figure 3 is a schematic diagram showing the overall structure of the prepositioning mechanism 20 in the medical assistive robot 1 of this disclosure shown in Figure 2A, and Figure 4 is a schematic diagram showing the overall structure of the integrated micro-motion platform 10 installed on the prepositioning mechanism 20 in the medical assistive robot 1 of this disclosure shown in Figure 2A.

[0066] As shown in Figure 2A, the medical assistive robot 1 includes a pre-positioning mechanism 20 (also called a "macro-motion platform"), an integrated micro-motion platform 10 mounted on the pre-positioning mechanism 20, and an instrument 30 disposed on a guide rod assembly 600 (see Figure 4) of the integrated micro-motion platform 10. That is, in Figure 2A, the integrated micro-motion platform 10 is disposed on the pre-positioning mechanism 20, but the integrated micro-motion platform 10 of this disclosure can also be disposed on a general-purpose robotic arm 50, which can be disposed on a trolley 60 or directly on the patient table 2. The macro-motion positioning of the integrated micro-motion platform 10 can also be achieved through the robotic arm 50. Figures 2B and 2C show the usage scenarios of the integrated micro-motion platform 10 disposed on the general-purpose robotic arm 50, namely, the magnetic resonance / CT navigation scenario and the optical positioning navigation scenario, respectively.

[0067] The device 30 can be, for example, a puncture needle for performing aspiration, a biopsy needle for retrieving tissue samples from suspicious lumps, masses, infections, or inflammations, or an injection needle for targeted drug delivery. Furthermore, the device can be an endoscope, an endoscope, or several needle electrodes used in ablation. More generally, the medical assistive robot 1 of this disclosure can be used to support percutaneous interventions, soft tissue and bone biopsies, direct drug injection, endoleak treatment, shunt replacement, marker and guidewire placement, etc. Medical assistive robots have been found to be particularly beneficial in neurosurgery; the medical assistive robot 1 of this disclosure is, for example, a magnetically compatible neurosurgical assistive robot. In terms of clinical application, the medical assistive robot 1 of this disclosure can be used for punctures in various scenarios, such as punctures of organs or tissues such as the liver and kidneys, and is not limited to neurosurgical punctures. Moreover, this disclosure can also be applied to transplantation, such as deep brain stimulation, or other more extensive scenarios.

[0068] As shown in Figure 2A, the medical assistive robot 1 is fixed to the patient table 2 or other fixed object via a pre-positioning mechanism 20. The pre-positioning mechanism 20 allows the integrated micro-motion platform 10 of the medical assistive robot 1, mounted on the pre-positioning mechanism 20, to macro-motion (i.e., large-scale movement) relative to the patient 3 on the patient table 2. For example, the integrated micro-motion platform 10 can be moved directly above the patient 3, or moved away from directly above the patient 3. Furthermore, after the integrated micro-motion platform 10 is moved to directly above the patient 3 (e.g., above the lesion of the patient 3) using the pre-positioning mechanism 20, the instruments 30 mounted on the integrated micro-motion platform 10 can be precisely aligned with the lesion position throughout the surgical procedure through micro-motions achieved by the integrated micro-motion platform 10 itself mounted on the pre-positioning mechanism 20.

[0069] As shown in Figure 3, the prepositioning mechanism 20 of this disclosure is composed of a micro-motion platform fixing frame 21, a base translation component 22, an arc bow 23, an arc bow lifting component 24, an arc motion component 25, and a micro-motion platform swing component 26. The micro-motion platform fixing frame 21 is mounted on the arc bow 23. The arc motion component 25 is mounted in the micro-motion platform fixing frame 21 and is used to make the micro-motion platform fixing frame 21 move on the arc of the arc bow 23. The micro-motion platform swing component 26 is mounted on the micro-motion platform fixing frame 21 and is used to make the integrated micro-motion platform 10 mounted on the micro-motion platform fixing frame 21 swing. The arc bow lifting component 24 is configured to raise and lower the arc bow 23 relative to the base of the prepositioning mechanism 20. The base translation component 22 is configured to translate the base of the prepositioning mechanism 20. In addition, in this disclosure, there are, for example, two arc bows 23, with each side of the micro-motion platform fixing frame 21 being fitted onto one arc bow 23, thereby enabling the micro-motion platform fixing frame 21 to be stably mounted on the arc bow. However, the number of arc bows 23 in this disclosure is not limited to the two shown in Figure 3, but can also be one or more than three. However, in terms of balancing the stability of installation and the simplicity of the structure, two are preferred.

[0070] The pre-positioning mechanism 20 is a manually adjustable mechanism. The entire mechanism provides four degrees of freedom for adjustment of the integrated micro-motion platform 10, which is fixed to the micro-motion platform bracket 21, and these adjustments are made using manual actuators such as knobs. Specifically:

[0071] (1) By translating the base of the prepositioning mechanism 20 through the base translation component 22, the integrated micro-motion platform 10 fixed on the micro-motion platform mounting frame 21 can move in the Y direction as shown in Figure 3.

[0072] (2) By raising and lowering the arc bow relative to the base of the pre-positioning mechanism 20 through the arc bow lifting component 24, the integrated micro-motion platform 10 fixed on the micro-motion platform mounting frame 21 can swing around the X direction as shown in Figure 3.

[0073] (3) By using the arc motion component 25 to make the micro-motion platform fixing frame 21 move on the arc of the arc bow 23, the integrated micro-motion platform 10 fixed on the micro-motion platform fixing frame 21 can move in the X direction as shown in Figure 3.

[0074] (4) By using the micro-motion platform swing assembly 26 to swing the integrated micro-motion platform 10 set on the micro-motion platform fixture 21, the integrated micro-motion platform 10 fixed on the micro-motion platform fixture 21 can swing around the Y direction shown in Figure 3.

[0075] It should be understood that the manually adjustable pre-positioning mechanism 20 is one example, and it can also be, for example, robot-driven. Each manual joint of the pre-positioning mechanism 20, after the corresponding manual fixing device (such as a knob) is removed, can be driven by a motor / hydraulic drive device (such as a gear, lead screw, etc., hereinafter the same), causing the corresponding module to move and brake in a specific direction, thereby achieving robot drive. As shown in Figure 5, the base translation assembly 22 uses a motor / hydraulic connection to the fixed base 221 and the movable base 222 described later, achieving relative movement between the two, thereby driving the base translation. Similarly, as shown in Figures 6(a) and 7(a), the arc bow lifting assemblies 24 and 24A use a motor / hydraulic drive device to connect the arc bow fixed bases 241 and 241A and the arc bow connecting seats 242 and 242A described later, achieving relative rotation between the two, thereby driving the arc bow 23 to rise / fall. Similarly, for the arc motion component 25, a motor / hydraulic drive device is used to connect the micro-motion platform fixing frame 21 and the arc bow portion of the arc bow 23, enabling relative sliding between the two, thereby driving the overall arc motion of the micro-motion platform fixing frame. Similarly, for the micro-motion platform swing component 26, a motor / hydraulic drive device is used to connect the micro-motion platform fixing frame 21 and the rotation center of the integrated micro-motion platform 10, enabling relative rotation between the two, thereby driving the swing of the micro-motion platform.

[0076] Through the combined action of the four components—base translation assembly 22, arc lifting assembly 24, arc motion assembly 25, and micro-motion platform swing assembly 26—the pre-positioning mechanism 20 enables the integrated micro-motion platform 10, fixed to the micro-motion platform holder 21, to achieve two degrees of freedom (four in total) in both the X and Y directions: translation and swing. Therefore, when the patient 3 on the patient table 2 is located below the pre-positioning mechanism 20, the integrated micro-motion platform 10 fixed to the micro-motion platform holder 21 of the pre-positioning mechanism 20 has a large adjustable range for macro-motion (i.e., large-amplitude movement) relative to the patient 3 on the patient table 2, essentially covering all surgical sites and angles for the patient 3 on the patient table 2, thereby reducing the pre-positioning dead zone. Furthermore, the translation in the X and Y directions and the swing around the X and Y directions can be adjusted via corresponding manual actuators, thereby quickly moving the instrument 30 set on the integrated micro-motion platform 10 to the vicinity of the surgical area.

[0077] In addition, as shown in Figure 4, the integrated micro-motion platform 10 of this disclosure generally includes a platform base 100, a first planar motion mechanism 200, a first hinge mechanism 300, a second planar motion mechanism 400, a second hinge mechanism 500, and a guide rod assembly 600.

[0078] The integrated micro-motion platform 10 employs four actuators, all integrated within the platform base 100. Two actuators are grouped together to form a motion plane. These two motion planes, namely the first plane (e.g., the upper plane) and the second plane (e.g., the lower plane), are symmetrically arranged. In other words, the platform base 100 contains two first actuators 110 and two second actuators 120.

[0079] A first planar motion mechanism 200 is disposed on the platform base 100 and can be actuated to move in the X and Y directions (with two degrees of freedom) within a first plane (e.g., the upper plane). A second planar motion mechanism 400 is disposed on the platform base 100 and can be actuated to move in the X and Y directions (with two degrees of freedom) within a second plane (e.g., the lower plane). The movement of the first planar motion mechanism 200 within the first plane (e.g., the upper plane) is independent of the movement of the second planar motion mechanism 400 within the second plane (e.g., the lower plane).

[0080] More specifically, the integrated micro-motion platform 10 also includes (two) first actuators 110 capable of actuating the first planar motion mechanism 200 and (two) second actuators 120 capable of actuating the second planar motion mechanism 400, wherein the first actuators 110 and the second actuators 120 are fixedly disposed on the platform base 100.

[0081] Furthermore, the guide rod assembly 600 is centrally positioned, passing through the platform base 100 in a manner that traverses the parallel first and second planes. One end of the guide rod assembly 600 is connected to the first planar motion mechanism 200 via the first hinge mechanism 300, and the other end is connected to the second planar motion mechanism 400 via the second hinge mechanism 500. This allows the guide rod assembly 600 of the integrated micro-motion platform 10 to move with four degrees of freedom relative to the platform base 100 (translation and oscillation around the X-direction, and translation and oscillation around the Y-direction). In this way, the brain neurointervention magnetically compatible medical assistive robot (medical assistive robot 1) can control the instrument 30 mounted on the guide rod assembly 600 and plan complex paths by controlling the stroke ratio of the four actuators, providing surgeons with more strategic and functional options.

[0082] In this disclosure, firstly, an embodiment (Embodiment 1) will be provided for the prepositioning mechanism 20 having the above structure. The specific structure of the prepositioning mechanism 20 of Embodiment 1 will be described below with reference to Figures 5 to 10.

[0083] (Example 1)

[0084] Figure 5 is a perspective view of the base translation component 22 that constitutes the prepositioning mechanism 20 of Embodiment 1 of this disclosure.

[0085] As shown in Figure 5, the base translation assembly 22 includes a fixed base 221, a movable base 222, and a guide slider 223. The movable base 222 is constrained to the fixed base 221 by the guide slider 223 and can move relative to the fixed base 221 in the Y direction. A locking hole (not shown) is formed on the movable base 222, and a locking knob 222a (translation locking knob) is provided therein. At the same time, a locking groove 221a extending in the Y direction is provided on the fixed base 221 at a position corresponding to the locking knob 222a. In the state where the locking knob 222a is released relative to the locking groove 221a (first position), by operating (e.g., pushing or pulling) the locking knob 223, the movable base 222 can move linearly relative to the fixed base 221 in the Y direction. Additionally, a scale (not shown) is provided on either the fixed base 221 or the movable base 222, and a pointer is provided on the other. The scale and pointer indicate the adjustment position of translation in the Y direction. After the movable base 222 moves to the adjustment position relative to the fixed base 221 in the Y direction, the locking knob 222a is locked in the locking groove 221a (second position), thereby enabling the movement of the pre-positioning mechanism 20 (more specifically, the integrated micro-motion platform 10 fixed on the micro-motion platform mounting bracket 21) in the Y direction. It should be understood that the locking method using the locking knob 222a and the locking groove 221a, and the method of achieving relative movement, are merely examples of manual adjustment, and this disclosure is not limited thereto.

[0086] Figures 6(a), 6(b), and 6(c) show a schematic structure of an example of the arc lifting assembly 24 of the prepositioning mechanism 20 of Embodiment 1 of this disclosure, wherein Figure 6(a) is a schematic perspective view viewed from one direction, Figure 6(b) is a partial cross-sectional view along Figure 6(a), and Figure 6(c) is a side view of the end faces of the arc fixing base 241 and the arc connecting seat 242 viewed from the side.

[0087] As shown in Figures 6(a) and 6(b), the arc bow lifting assembly 24 includes an arc bow fixing base 241, an arc bow connecting seat 242, a lifting shaft 243, and a shaft fixing plate 244. Both ends of the arc bow 23 are connected to the arc bow connecting seat 242. The arc bow connecting seat 242 is rotatably connected to the arc bow fixing base 241 via the lifting shaft 243 (see Figure 6(b)) in a way that allows it to be lifted and lowered. The arc bow fixing base 241 is fixed to the movable base 222 of the base translation assembly 22.

[0088] Furthermore, as shown more clearly in Figure 6(b), the arch fixing base 241 has a pivot insertion hole 241a with a first inner diameter along the X direction, and the arch connecting seat 242 has a pivot insertion hole 242a with a second inner diameter and a pivot fixing hole 242b with a third inner diameter along the X direction. The first inner diameter, the second inner diameter, and the third inner diameter can be the same or different from each other. In the example shown in Figure 6(b), the first inner diameter and the third inner diameter are the same and both are larger than the second inner diameter. In addition, the lifting pivot 243 has a first portion 243a that enters the pivot insertion hole 241a of the arch fixing base 241 and a second portion 243b that enters the pivot insertion hole 242a of the arch connecting seat 242. The pivot fixing plate 244 enters the pivot fixing hole 242b of the arch connecting seat 242 and is fixed to the second portion 243b of the lifting pivot 243.

[0089] The lifting shaft 243 is configured to allow relative rotation of the lifting shaft 243 relative to the arc arch fixing base 241, and the relative rotation of the lifting shaft 243 relative to the arc arch connecting seat 242 is restricted by the shaft fixing plate 244. For example, as shown in Figures 6(a) and 6(b), the arc arch connecting seat 242 is fastened to the shaft fixing plate 244 using fastening screws 246, thereby causing the arc arch connecting seat 242, the shaft fixing plate 244 and the lifting shaft 243 to rotate relative to the arc arch fixing base 241 as a whole.

[0090] Additionally, as shown in Figures 6(b) and 6(c), a locking hole (not shown) is formed on the arch fixing base 241, and a locking knob 241b (lifting locking knob) is provided therein. At the same time, a locking groove (not shown) extending circumferentially along the lifting shaft 243 is provided at the position corresponding to the locking knob 241b on the lifting shaft 243. In the state where the locking knob 241b is released relative to the locking groove (first position), by operating (e.g., rotating) the arch 23, the arch connecting seat 242 connected to the arch 23 can be raised or lowered relative to the arch fixing base 241 fixed to the movable base 222. Additionally, a scale (not shown) is provided on the side of the bow lifting assembly 24, for example, on either the bow fixing base 241 or the bow connecting seat 242 (e.g., the end cap 242c of the bow connecting seat 242), and a pointer is provided on either the bow fixing base 241 or the bow connecting seat 242 (e.g., the bow fixing base 241). The scale and pointer indicate the adjustment position of the bow connecting seat 242 relative to the bow fixing base 241 in the X direction. After the bow connecting seat 242 is raised or lowered to the adjustment position relative to the bow fixing base 241 in the X direction, the locking knob 241b is locked in the locking groove (second position), thereby enabling the pre-positioning mechanism 20 (more specifically, the integrated micro-motion platform 10 fixed on the micro-motion platform mounting bracket 21) to swing in the X direction.

[0091] Figures 7(a), 7(b), and 7(c) show a schematic structure of the arc lifting assembly 24A of another example of the prepositioning mechanism 20 of Embodiment 1 of this disclosure, wherein Figure 7(a) is a schematic perspective view viewed from one direction, Figure 7(b) is a partial cross-sectional view along Figure 7(a), and Figure 7(c) is a side view of the end faces of the arc fixing base 241A and the arc connecting seat 242A viewed from the side.

[0092] The bow lifting assembly 24A of another example shown in Figures 7(a), 7(b), and 7(c) differs from the bow lifting assembly 24 of another example shown in Figures 6(a), 6(b), and 6(c) in that: in one example of the bow lifting assembly 24, the bow connecting seat 242 is fastened to the pivot fixing plate 244 using fastening screws 246, thereby causing the bow connecting seat 242, the pivot fixing plate 244, and the lifting pivot 243 to rotate relative to the bow fixing base 241 as a whole, while in the other example... The bow lifting assembly 24A includes a quick-release mechanism that detachably connects the bow connecting seat 242A to the pivot fixing plate 244A. This allows the bow connecting seat 242A, the pivot fixing plate 244A, and the lifting pivot 243A to rotate relative to the bow fixing base 241A as a whole. Alternatively, the bow connecting seat 242A can rotate independently relative to the bow fixing base 241A, which is fixed to the lifting pivot 243A (and the pivot fixing plate 244A) by the locking knob 241bA and the locking groove.

[0093] More specifically, as shown in Figures 7(a) and 7(c), the quick-release mechanism is, for example, a quick-release plunger 245A. Additionally, a slot is provided on the pivot fixing plate 244A, allowing the front end of the quick-release plunger 245A to be quickly inserted into or removed from the slot of the pivot fixing plate 244A.

[0094] When it is necessary to adjust the swing position of the pre-positioning mechanism 20 around the X direction, insert the front end of the quick-release plunger 245A into the slot of the rotating shaft fixing plate 244A, and release the locking knob 241bA relative to the locking slot. At this time, by operating (e.g., rotating) the arc bow 23, the arc bow connecting seat 242A connected to the arc bow 23 can be raised or lowered relative to the arc bow fixing base 241A fixed to the movable base 222 to the specified swing position. Then, tighten the locking knob 241bA relative to the locking slot. If, in subsequent procedures such as surgery, the surgical robot 1 is not needed temporarily and the arc bow connecting seat 242A connected to the arc bow 23 needs to be temporarily lowered relative to the arc bow fixing base 241A, simply pull the quick-release plunger 245A out of the slot of the rotating shaft fixing plate 244A to quickly lower the arc bow connecting seat 242A and the arc bow 23, increasing the surgeon's operating space and assisting them in performing the surgery better. Furthermore, when needed for the next use, the quick-release plunger 245A can be reinserted into the slot of the rotating shaft fixing plate 244A, allowing it to quickly return to the previously specified swing position without requiring further adjustment of the swing of the pre-swing mechanism 20 around the X direction. It should be understood that the locking method and the method of relative rotation achieved here by locking via the locking knobs 241b, 241bA, and locking slot are merely examples of manual adjustment, and this disclosure is not limited thereto.

[0095] Figure 8 is a perspective view of the micro-motion platform fixing frame 21 of the prepositioning mechanism 20 of Embodiment 1 of this disclosure, which is mounted on the arc bow 23. Figures 9(a) and 9(b) show the schematic structure of the arc motion component 25 of the prepositioning mechanism 20 of Embodiment 1 of this disclosure, which is mounted in the micro-motion platform fixing frame 21 and used to move the micro-motion platform fixing frame 21 on the arc of the arc bow 23. Figure 9(a) is a schematic perspective view of each component of the arc motion component 25, and Figure 9(b) is a schematic diagram of the configuration relationship between the arc motion component 25 mounted in the micro-motion platform fixing frame 21 and the arc bow 23.

[0096] As shown in Figure 8, the micro-motion platform fixing frame 21 is mounted on the arc bow 23, and the arc motion assembly 25 is mounted inside the micro-motion platform fixing frame 21. More specifically, as shown in Figure 9(a), the arc motion assembly 25 includes multiple (e.g., four) limiting guide parts 251 installed inside the micro-motion platform fixing frame 21 and interconnected with each other, and an arc rotation locking knob 252 for locking the multiple limiting guide parts 251. Each limiting guide part 251 consists of a first vertical guide post 251a, two second vertical guide posts 251b, a first transverse guide post 251c, and a second transverse guide post 251d. The first vertical guide post 251a, the second vertical guide post 251b, the first transverse guide post 251c, and the second transverse guide post 251d of each limiting guide part 251 of the arc motion assembly 25 are aligned with the outer peripheral surface of the arc bow 23 in the Y and Z directions and limit and guide the arc bow 23. That is, as shown in Figure 9(b), the first vertical guide post 251a and the two second vertical guide posts 251b are respectively attached to the two outer surfaces of the arc bow 23 in the Y direction from both sides of the arc bow 23, and the first transverse guide post 251c and the second transverse guide post 251d are attached to the two outer surfaces of the arc bow 23 in the Z direction from the Z direction and are located between the two second vertical guide posts 251b.

[0097] Therefore, by tightening the arc-mounted rotary locking knob 252, the arc-mounted motion component 25 can be fixed to the arc bow 23, and by loosening the arc-mounted rotary locking knob 252, the position of the arc-mounted motion component 25 relative to the arc bow 23 can be manually adjusted. It should be understood that the tightening and loosening of the arc-mounted rotary locking knob 252 and the method of achieving relative sliding used here are only one example of manual adjustment, and this disclosure is not limited thereto.

[0098] As shown in Figures 8 and 9(b), a scale is provided on the outer side of the arc bow 23 in the Y direction, and a viewing window is provided on the micro-motion platform fixing frame 21, through which the scale on the arc bow 23 can be seen.

[0099] Additionally, due to manufacturing dimensional errors, multiple limiting guide parts 251 may not all be tightly attached to the outer surface of the arc bow 23 in both the Y and Z directions. To solve this technical problem, as shown in Figure 9(b), either the first vertical guide post 251a or the second vertical guide post 251b (e.g., the second vertical guide post 251b) is a non-adjustable guide post with a sleeve 2512 fitted onto the guide post 2511, serving as a guide on the Y-direction side of the arc bow 23. The first vertical guide post 251a and the second vertical guide post 251b... The other one (e.g., the first vertical guide post 251a) is an adjustable guide post with an eccentric sleeve 2513 having an eccentric portion 2514 fitted on the guide post 2511, and serves as a guide on the other side of the arc bow 23 in the Y direction. By adjusting the adjustment portion 2515 of the eccentric portion 2514 of the adjustable guide post, one limiting guide portion 251 can adjust the distance in the Y direction between the first vertical guide post 251a and the second vertical guide post 251b independently of the other limiting guide portions 251, so as to compensate for the loose fit in the Y direction caused by manufacturing size errors, etc.

[0100] Similarly, as shown in Figure 9(b), either the first transverse guide post 251c or the second transverse guide post 251d (e.g., the second transverse guide post 251d) is a non-adjustable guide post with a sleeve 2512 fitted on the guide post 2511, serving as a guide on one side of the arc bow 23 in the Z direction. The other one of the first transverse guide post 251c or the second transverse guide post 251d (e.g., the first transverse guide post 251c) is an adjustable guide post with an eccentric sleeve 2513 having an eccentric portion 2514 fitted on the guide post 2511, serving as a guide on the other side of the arc bow 23 in the Z direction. By adjusting the adjustment portion 2515 of the eccentric portion 2514 of the adjustable guide post, one limiting guide portion 251 can adjust the distance in the Z direction between the first transverse guide post 251c and the second transverse guide post 251d independently of the other limiting guide portions 251, in order to compensate for the loose fit in the Z direction caused by manufacturing dimensional errors, etc.

[0101] Figure 10 is a perspective view of the schematic structure of the micro-motion platform swing assembly 26, which is disposed on the micro-motion platform fixture 21 and used to swing the integrated micro-motion platform 10 disposed on the micro-motion platform fixture 21 according to Embodiment 1 of the present disclosure.

[0102] As shown in Figure 10, the micro-motion platform swing assembly 26 includes a swing shaft 261, a swing locking plate 262, a swing locking force transmission component 263, and a swing locking knob 264. The swing shaft 261 is fixedly connected to the platform base 100 of the integrated micro-motion platform 10 and is arranged in a corresponding hole in the micro-motion platform fixing frame 21 in a manner that allows it to rotate around the Y direction. The swing locking plate 262 is constrained in a corresponding groove in the micro-motion platform fixing frame 21, and its inner surface can move radially along the swing shaft 261 and fit against the outer surface of the swing shaft 261. The swing locking force transmission component 263 is concentrically arranged with the swing shaft 261, and its inner surface fits against the inclined surface of the outer surface of the swing locking plate 262. The swing locking knob 264 is arranged on the outer surface of the swing locking force transmission component 263.

[0103] When the swing locking knob 264 is released, the platform base 100 of the integrated micro-motion platform 10 can swing relative to the micro-motion platform fixing frame 21 in the Y direction. When the swing locking knob 264 is tightened, the swing locking knob 264 pushes the swing locking force transmission member 263 forward. The inner surface of the swing locking force transmission member 263 pushes the outer surface of the swing locking piece 262. Since the swing locking piece 262 is constrained in the corresponding groove of the micro-motion platform fixing frame 21 and can only move radially along the swing shaft 261, the swing shaft 261 is clamped, so that the platform base 100 of the integrated micro-motion platform 10 is fixedly locked relative to the micro-motion platform fixing frame 21. It should be understood that the locking method of tightening and releasing the swing locking knob 264 and the method of achieving relative rotation used herein are only one example of manual adjustment, and this disclosure is not limited thereto.

[0104] Additionally, as shown in Figure 8, a swing angle indicator needle 265 and a swing angle scale 266 are provided on the outer surface of the micro-motion platform holder 21 to indicate the swing angle of the platform base 100 of the integrated micro-motion platform 10 relative to the micro-motion platform holder 21.

[0105] Thus, by utilizing the prepositioning mechanism 20 of Embodiment 1 of this disclosure, through the combined action of the four components—base translation component 22, arc lifting component 24, arc motion component 25, and micro-motion platform swing component 26—the prepositioning mechanism 20 can achieve adjustment of the integrated micro-motion platform 10 fixed on the micro-motion platform mounting frame 21, which has two degrees of freedom (a total of four) in the X and Y directions, respectively. Therefore, when the patient 3 on the patient table 2 is located below the prepositioning mechanism 20, the adjustable space of the integrated micro-motion platform 10 fixed on the micro-motion platform mounting frame 21 of the prepositioning mechanism 20 relative to the patient 3 on the patient table 2 is large, basically covering all the surgical sites and angles for the operation on the patient 3 on the patient table 2, thereby reducing the dead zone of prepositioning. In addition, the translation in the X and Y directions and the oscillation around the X and Y directions can be adjusted by the corresponding manual actuator, thereby quickly moving the instrument 30 set on the integrated micro-motion platform 10 to the vicinity of the surgical area.

[0106] In addition, the main structure of the prepositioning mechanism 20 in Embodiment 1 of this disclosure has an arc-shaped design, which is compatible with the corresponding interfaces of large imaging equipment (such as CT and MRI machines), making it convenient to perform the procedure on different platforms and thus having a wider range of applications.

[0107] Furthermore, this disclosure provides several different embodiments (Embodiments 2A to 2D) of the integrated micro-motion platform 10 having the above structure. The specific structures of each embodiment (Embodiments 2A to 2D) will be described in detail below with reference to the accompanying drawings. In the description of Embodiments 2A to 2D, identical or equivalent components are described using the same numerical prefix, with only the letter suffix changed.

[0108] (Example 2A)

[0109] First, the integrated micro-motion platform 10A of Embodiment 2A of this disclosure will be described with reference to Figures 11 to 13, 14(a), 14(b), 14(c), 14(d), 14(e) and 14(f).

[0110] Figures 11 to 13 show the overall structure of the integrated micro-motion platform 10B of Embodiment 2A of this disclosure. Figure 11 is a schematic perspective view from one direction, Figure 12 is a schematic perspective view from the front, and Figure 13 is a cross-sectional perspective view taken along line A1-A1 of Figure 12. Figures 14(a) to 14(f) show the translational and swinging motions of the lower plane linkage mechanism 400B of the integrated micro-motion platform 10A of Embodiment 2A of this disclosure, viewed from below. Figures 14(a) to 14(d) are bottom views showing the translational motion, and Figures 14(e) and 14(f) are bottom views showing the swinging motion.

[0111] The integrated micro-motion platform 10A of Embodiment 2A of this disclosure utilizes the superposition of motions along the X and Y directions in a first plane and a second plane that are parallel to each other but different, to form a motion with four degrees of freedom.

[0112] The integrated micro-motion platform 10A of Embodiment 2A of this disclosure includes a platform base 100A (see Figures 11 to 13), an upper plane linkage mechanism 200A (see Figure 11) serving as a first planar motion mechanism 200, an upper plane hinge mechanism 300A (see Figure 13) serving as a first hinge mechanism 300, a lower plane linkage mechanism 400A (see Figures 14(a) to 14(f)) serving as a second planar motion mechanism 400, a lower plane hinge mechanism 500A (see Figure 13) serving as a second hinge mechanism 500, and a guide rod assembly 600A (see Figure 13).

[0113] As shown in Figures 11 to 13, a pair of first drive motors 111A, serving as first actuators 110A, and a pair of second drive motors 121A, serving as two second actuators 120A, are vertically arranged side-by-side within the platform base 100A. The pair of first drive motors 111A and the pair of second drive motors 121A are respectively arranged side-by-side along the Z-direction at corresponding motor mounting portions 130A inside the platform base 100A with opposite orientations. Their respective drive shafts (not shown) are connected to the upper plane linkage mechanism 200A and the lower plane linkage mechanism 400A, respectively, to actuate the upper plane translation mechanism 200A and the lower plane linkage mechanism 400A accordingly. Each actuator (the pair of first drive motors 111A and the pair of second drive motors 121A) can be, for example, a piezoelectric motor assembly or a hydraulic cylinder assembly.

[0114] Furthermore, the upper plane linkage mechanism 200A, which is the first planar motion mechanism 200, and the lower plane linkage mechanism 400A, which is the second planar motion mechanism 400, are structurally identical.

[0115] As shown in Figure 11, the upper plane linkage mechanism 200A is a four-bar linkage structure with four links, including a first link 210A connected at one end to the drive shaft of one of the pair of first drive motors 111A, a second link 220A connected at one end to the drive shaft of the other of the pair of first drive motors 111A, and two intermediate links 230A (i.e., first intermediate link 231A and second intermediate link 232A) connected sequentially between the first link 210A and the second link 220A. One end of the first intermediate link 231A is connected to the other end of the first link 210A, for example, by a hinge. One end of the second intermediate link 232A is connected to the other end of the second link 220A, for example, by a hinge. The other end of the first intermediate link 231A is also connected to the other end of the second intermediate link 232A, for example, by a hinge and is located in the center of the upper plane.

[0116] The lower plane linkage mechanism 400A is also a four-bar linkage structure with four links, and has the same structure as the upper plane linkage mechanism 200A, that is, as shown in Figures 14(a) to 14(f), it includes a first link 410A, a second link 420A and two intermediate links 430A (first intermediate link 431A and second intermediate link 432A). In addition, one end of the first link 410A is connected to the drive shaft of one of the pair of second drive motors 121A, and one end of the second link 420A is connected to the drive shaft of the other of the pair of second drive motors 121A. One end of the first intermediate link 431A is connected to the other end of the first link 410A, for example, by a hinge. One end of the second intermediate link 432A is connected to the other end of the second link 420A, for example, by a hinge. The other end of the first intermediate link 431A is also connected to the other end of the second intermediate link 432A, for example, by a hinge and is located in the center of the lower plane.

[0117] Furthermore, the upper plane linkage mechanism 200A, which is formed by hinged connection of the first link 210A, the two intermediate links 230A, and the second link 220A, and the lower plane linkage mechanism 400A, which is formed by hinged connection of the first link 410A, the two intermediate links 430A, and the second link 420A, are arranged in opposite orientations, that is, the orientations of the M-shaped four-bar linkage are opposite.

[0118] A positioning channel CP is formed at the center of the platform base 100A between a pair of first drive motors 111A and a pair of second drive motors 121A. A hinged sleeve 180A is provided at the upper and lower parts of the channel, and a guide rod assembly 600A is inserted therein. In other words, the guide rod assembly 600A passes through the two hinged sleeves 180A and is disposed in the positioning channel CP. One end (e.g., the upper end) of the guide rod assembly 600A is connected to the hinged sleeve 180A of the upper plane linkage mechanism 200A via, for example, a ball joint, while the other end (e.g., the lower end) of the guide rod assembly 600A is connected to the hinged sleeve 180A of the lower plane linkage mechanism 400A via, for example, a ball joint.

[0119] When, for example, a pair of second drive motors 121A rotate at the same or different angles, as shown in Figures 14(a) to 14(d), the first link 410A and the second link 420A connected to the pair of second drive motors 121A will rotate to a specific position. The rotation of the first link 410A and the second link 420A will in turn drive the first intermediate link 431A and the second intermediate link 432A to rotate to a specific position, so that the hinge joint between the other end of the first intermediate link 431A and the other end of the second intermediate link 432A moves to a specific position, that is, the movement occurs on the lower plane, which is the second plane. In other words, by pre-determining the relationship between the rotation angles of each of the pair of second drive motors 121A and the movement in the X and Y directions at the hinge points of the other ends of the first intermediate link 431A and the second intermediate link 432A of the lower plane linkage mechanism 400A, the hinge points of the other ends of the first intermediate link 431A and the second intermediate link 432A of the lower plane linkage mechanism 400A (i.e., the lower end of the guide rod assembly 600A) can be precisely moved in the X and Y directions on the lower plane, which is the second plane, by controlling the rotation angles of each of the pair of second drive motors 121A.

[0120] The same applies to the upper plane, which serves as the first plane. By pre-determining the relationship between the rotation angles of each of the pair of first drive motors 111A and the amount of movement in the X and Y directions at the hinge point of the other end of the first intermediate link 231A and the other end of the second intermediate link 232A of the upper plane linkage mechanism 200A, the hinge point of the other end of the first intermediate link 231A and the other end of the second intermediate link 232A of the upper plane linkage mechanism 200A (i.e., the upper end of the guide rod assembly 600A) can be precisely moved in the X and Y directions on the upper plane, which serves as the first plane, by controlling the rotation angles of each of the pair of first drive motors 111A.

[0121] Furthermore, the movement of the upper end of the guide rod assembly 600A in the upper plane, which is the first plane, can be synchronized with the movement of the lower end of the guide rod assembly 600A in the lower plane, which is the second plane. That is, the guide rod assembly 600A moves synchronously in the first and second planes. At this time, as shown in Figures 14(a) to 14(d), the guide rod assembly 600A does not swing relative to the platform base 100A. The instrument 30 mounted on the guide rod assembly 600A of the integrated micro-motion platform 10A can move in the plane parallel to the first and second planes without the guide rod assembly 600A swinging.

[0122] Furthermore, the movement of the upper end of the guide rod assembly 600A in the upper plane, which is the first plane, can also be asynchronous with the movement of the lower end of the guide rod assembly 600A in the lower plane, which is the second plane. That is, the guide rod assembly 600A performs planar movement asynchronously in the first plane and the second plane. At this time, as shown in Figures 14(e) and 14(f), the instrument 30 set on the guide rod assembly 600A of the integrated micro-motion platform 10A may not only translate in the plane parallel to the first plane and the second plane, but also swing.

[0123] Thus, by utilizing the integrated micro-motion platform 10A of Embodiment 2A of this disclosure, the instrument 30 disposed on the guide rod assembly 600A of the integrated micro-motion platform 10A can not only have the motion freedom to insert and withdraw along the extension direction of the guide rod assembly 600A, but also provide four degrees of freedom of motion: planar movement in a plane (first plane, second plane) perpendicular to the extension direction of the central connecting rod, and swinging in two directions.

[0124] (Example 2B)

[0125] Next, referring to FIG15, the integrated micro-motion platform 10B of Embodiment 2B of this disclosure will be described.

[0126] Figure 15 shows the overall structure of the integrated micro-motion platform 10B of Embodiment 2B of this disclosure, wherein Figure 15 is a top view of the upper plane motion mechanism 200B of the integrated micro-motion platform 10B of Embodiment 2B of this disclosure.

[0127] The integrated micro-motion platform 10B of Embodiment 2B of this disclosure has the same concept as the integrated micro-motion platform 10A of Embodiment 2A of this disclosure, that is, by superimposing the motions along the X and Y directions in a first plane and a second plane that are parallel to each other but different, a motion with four degrees of freedom is formed.

[0128] The integrated micro-motion platform 10B of Embodiment 2B of this disclosure includes a platform base 100B, an upper plane linkage mechanism 200B serving as a first planar motion mechanism 200, an upper plane hinge portion (not shown, such as a ball joint) serving as a first hinge mechanism 300, a lower plane linkage mechanism (not shown) serving as a second planar motion mechanism 400, a lower plane hinge portion (not shown, such as a ball joint) serving as a second hinge mechanism 500, and a guide rod assembly 600B.

[0129] As shown in Figure 15, a first X-axis actuation assembly 111B and a first Y-axis actuation assembly 112B, which serve as first actuators 110B, a second X-axis actuation assembly (not shown) and a second Y-axis actuation assembly (not shown), which serve as second actuators 120B, and a hinge fixing part 190B are provided in the platform base 100B.

[0130] Each actuation assembly (first X-axis actuation assembly 111B, first Y-axis actuation assembly 112B, second X-axis actuation assembly (not shown) and second Y-axis actuation assembly (not shown)) may be, for example, a motor assembly or a hydraulic cylinder assembly, and may have, for example, a lead screw with a lead screw nut or a piston rod with a sliding sleeve 115B (first X-axis lead screw or first X-axis piston rod 113B, first Y-axis lead screw or first Y-axis piston rod 114B, second X-axis lead screw or second X-axis piston rod (not shown) and second Y-axis lead screw or second Y-axis piston rod (not shown)).

[0131] Furthermore, the upper plane linkage mechanism 200B, which is the first planar motion mechanism 200, and the lower plane linkage mechanism (not shown), which is the second planar motion mechanism 400, are structurally identical. Here, only the upper plane linkage mechanism 200B will be described in detail.

[0132] As shown in Figure 15, the upper plane linkage mechanism 200B includes a first sliding rod 210B and a second sliding rod 220B. A first hinge hole 211B is provided at one end of the first sliding rod 210B for fixing to the hinge fixing part 130B by means of, for example, hinge. Sliding guide grooves 212B and 221B are respectively provided on the middle part of the first sliding rod 210B and one end of the second sliding rod 220B. The screw nut or sliding sleeve 115B provided on the screw or piston rod of the first X-axis actuation component 111B, the first Y-axis actuation component 112B, the second X-axis actuation component (not shown), and the second Y-axis actuation component (not shown) are embedded in the sliding guide grooves 212B and 221B to actuate the first sliding rod 210B and the second sliding rod 220B. Additionally, hinge fixing holes 213B and 222B are provided at the other end of the first sliding rod 210B and the middle part of the second sliding rod 220B for hinge fixing the first sliding rod 210B and the second sliding rod 220B together, for example, by hinge. At the other end of the second sliding rod 220B, a second hinge hole 223B is provided for connecting to one end of the guide rod assembly 600B, for example, by hinge from the upper plane hinge part (e.g., ball joint).

[0133] When the first X-axis actuating assembly 111B moves along the X direction and / or the first Y-axis actuating assembly 112B moves along the Y direction, as shown in FIG15, the lead screw or piston rod on the first X-axis actuating assembly 111B and the first Y-axis actuating assembly 112B moves along the X or Y direction. The lead screw nut provided on the lead screw or the sliding sleeve 115B provided on the piston rod slides in the sliding guide grooves 212B, 221B of the first sliding rod 210B and the second sliding rod 220B. Through the hinge at the first hinge hole 211B and the hinge fixing holes 213B, 222B, the first sliding rod 210B and the second sliding rod 220B swing in the first plane. This causes one end of the guide rod assembly 600B, which is connected at the second hinge hole 223B through the upper plane hinge portion (e.g., ball joint), to move planarly on the first plane. In addition, the other end of the guide rod assembly 600B moves planarly on the lower plane, which is the second plane.

[0134] Furthermore, the movement of one end of the guide rod assembly 600B in the upper plane, which is the first plane, can be synchronized with the movement of the other end of the guide rod assembly 600B in the lower plane, which is the second plane. That is, the guide rod assembly 600B moves synchronously in the first and second planes. At this time, the guide rod assembly 600B does not swing relative to the platform base 100B, and the instrument 30 set on the central connecting rod guide rod assembly 600B of the integrated micro-motion platform 10B can move in the plane in a plane parallel to the first and second planes without the guide rod assembly 600B swinging.

[0135] Furthermore, the movement of one end of the guide rod assembly 600B in the upper plane, which is the first plane, can also be asynchronous with the movement of the other end of the guide rod assembly 600B in the lower plane, which is the second plane. That is, the guide rod assembly 600B performs planar movement asynchronously in the first plane and the second plane. At this time, the instrument 30 on the guide rod assembly 600B of the integrated micro-motion platform 10B may not only translate in a plane parallel to the first plane and the second plane, but also swing.

[0136] Thus, similar to Embodiment 2A of this disclosure, by utilizing the integrated micro-motion platform 10B of Embodiment 2B of this disclosure, the instrument 30 disposed on the guide rod assembly 600B of the integrated micro-motion platform 10B can not only have the motion freedom to insert and withdraw along the extension direction of the guide rod assembly 600B, but also provide four degrees of freedom of motion: planar movement in a plane (first plane, second plane) perpendicular to the extension direction of the central connecting rod, and swinging in two directions.

[0137] (Example 2C)

[0138] Next, referring to FIG16, the integrated micro-motion platform 10C of Embodiment 2C of this disclosure will be described.

[0139] Figure 16 shows the overall structure of the integrated micro-motion platform 10C of Embodiment 2C of this disclosure, wherein Figure 16 is a top view of the upper plane motion mechanism 200C of the integrated micro-motion platform 10C of Embodiment 2C of this disclosure.

[0140] The integrated micro-motion platform 10C of Embodiment 2C of this disclosure has the same concept as the integrated micro-motion platforms 10A and 10B of Embodiments 2A and 2B of this disclosure, that is, by superimposing the motions along the X and Y directions in a first plane and a second plane that are parallel to each other but different, a motion with four degrees of freedom is formed.

[0141] The integrated micro-motion platform 10C of Embodiment 2C of this disclosure includes a platform base 100C, an upper plane linkage mechanism 200C serving as a first planar motion mechanism 200, an upper plane hinge portion (not shown, such as a ball joint) serving as a first hinge mechanism 300, a lower plane linkage mechanism (not shown) serving as a second planar motion mechanism 400, a lower plane hinge portion (not shown, such as a ball joint) serving as a second hinge mechanism 500, and a guide rod assembly 600C.

[0142] As shown in Figure 16, a pair of drive components 111C serving as a first actuator 110C and a pair of second drive components (not shown) serving as a second actuator 120C are provided in the platform base 100C.

[0143] A pair of first drive assemblies 111C and a pair of second drive assemblies are respectively arranged in the same orientation in the first plane (e.g., the upper plane) and the second plane (e.g., the lower plane) at corresponding motor mounting portions 130C inside the platform base portion 100C. For example, they may be piezoelectric motor assemblies or hydraulic cylinder assemblies, and for example, they have a pair of lead screws with lead screw nuts or a pair of piston rods with sliding sleeves 115C (a pair of first lead screws or a pair of second piston rods 113C, 114C and a pair of second lead screws or a pair of second piston rods (not shown)).

[0144] Furthermore, the upper plane linkage mechanism 200C, which is the first planar motion mechanism 200, and the lower plane linkage mechanism (not shown), which is the second planar motion mechanism 400, are structurally identical. Here, only the upper plane linkage mechanism 200C will be described in detail.

[0145] As shown in Figure 16, the upper plane linkage mechanism 200C includes a first link 210C and a second link 220C. At one end of each of the first link 210C and the second link 220C, there are fixing holes 211C and 221C for rotatably fixing, for example, to the screw nut of a pair of first screws or the sliding sleeve 115C of piston rods 113C and 114C. At the other end of each of the first link 210C and the second link 220C, there are second hinge holes 212C and 222C for fixing the first link 210C, the second link 220C and the guide rod assembly 600C together, for example, by means of hinges, such as upper plane hinges (e.g., ball joints).

[0146] When one or both of the pair of first drive assemblies 111C are driven, as shown in FIG16, the pair of first lead screws or piston rods 113C, 114C are driven to move along the configuration direction (X direction or Y direction). The lead screw nut provided on the lead screw or the sliding sleeve 115C of the piston rod will cause the first connecting rod 210C and the second connecting rod 220C to swing in the first plane through the hinges at the fixing holes 211C, 221C and the hinges at the second hinge holes 212C, 222C. This causes one end of the guide rod assembly 600C connected at the second hinge holes 212C, 222C through the upper plane hinge portion (e.g., ball joint) to move planarly in the first plane. In addition, the other end of the guide rod assembly 600C moves planarly in the lower plane, which is the second plane.

[0147] Furthermore, the movement of one end of the guide rod assembly 600C in the upper plane, which is the first plane, can be synchronized with the movement of the other end of the guide rod assembly 600C in the lower plane, which is the second plane. That is, the guide rod assembly 600C moves synchronously in the first and second planes. At this time, the guide rod assembly 600C does not swing relative to the platform base 100C, and the instrument 30 set on the central connecting rod guide rod assembly 600C of the integrated micro-motion platform 10C can move in the plane in a plane parallel to the first and second planes without the guide rod assembly 600C swinging.

[0148] Furthermore, the movement of one end of the guide rod assembly 600C in the upper plane, which is the first plane, can also be asynchronous with the movement of the other end of the guide rod assembly 600C in the lower plane, which is the second plane. That is, the guide rod assembly 600C performs planar movement asynchronously in the first plane and the second plane. At this time, the instrument 30 set on the guide rod assembly 600C of the integrated micro-motion platform 10C may not only translate in a plane parallel to the first plane and the second plane, but also swing.

[0149] Thus, similar to embodiments 2A and 2B of this disclosure, by utilizing the integrated micro-motion platform 10C of embodiment 2C of this disclosure, the instrument 30 disposed on the guide rod assembly 600C of the integrated micro-motion platform 10C can not only have the motion freedom to insert and withdraw along the extension direction of the guide rod assembly 600C, but also provide four degrees of freedom of motion: planar movement in a plane (first plane, second plane) perpendicular to the extension direction of the central connecting rod, and swinging in two directions.

[0150] (Example 2D)

[0151] Next, referring to FIG17, the integrated micro-motion platform 10D of Embodiment 2D of this disclosure will be described.

[0152] Figure 17 shows the overall structure of the integrated micro-motion platform 10D of Embodiment 2D of this disclosure, wherein Figure 17 is a top view of the upper plane motion mechanism 200D of the integrated micro-motion platform 10D of Embodiment 2D of this disclosure.

[0153] The integrated micro-motion platform 10D of Embodiment 2D of this disclosure has the same concept as the integrated micro-motion platforms 10A to 10C of Embodiments 2A to 2C of this disclosure, that is, by superimposing the motions along the X and Y directions in a first plane and a second plane that are parallel to each other but different, a motion with four degrees of freedom is formed.

[0154] The integrated micro-motion platform 10D of Embodiment 2D of this disclosure includes a platform base 100D, an upper plane passive piston 200D serving as a first planar motion mechanism 200, an upper plane hinge portion (not shown, such as a ball joint) serving as a first hinge mechanism 300, a lower plane passive piston (not shown) serving as a second planar motion mechanism 400, a lower plane hinge portion (not shown, such as a ball joint) serving as a second hinge mechanism 500, and a guide rod assembly 600D.

[0155] As shown in Figure 17, a pair of drive assemblies 111D serving as a first actuator 110D, a pair of second drive assemblies (not shown) serving as a second actuator 120D, and a hinge fixing part 190D (e.g., a base) for hinge fixing the upper plane passive piston 200D and the lower plane passive piston (not shown) are provided in the platform base 100D.

[0156] A pair of first drive components 111D and a pair of second drive components are respectively fixed to corresponding motor mounting portions 130D (e.g., positioning blocks) inside the platform base portion 100D by means of, for example, hinges. In addition, the upper plane passive piston 200D and the lower plane passive piston (not shown), which are driven by the drive components (a pair of drive components 111D and a pair of second drive components) respectively, are respectively fixed to the hinge fixing portion 190D (e.g., base) inside the platform base portion 100D by means of, for example, hinges. On the first plane and the second plane, the two positioning blocks (two motor mounting portions 130D) used to hinge and fix the pair of first drive components 111D and the pair of second drive components are respectively arranged in a triangular configuration with the base (hinged fixing portion 190D) used for the upper plane passive piston 200D and the lower plane passive piston (not shown).

[0157] Each drive assembly (a pair of first drive assemblies 111D and a pair of second drive assemblies) may be, for example, a piezoelectric motor assembly or a hydraulic cylinder assembly, and may have, for example, a pair of lead screws with lead screw nuts or a pair of piston rods with sliding sleeves 115D (a pair of first lead screws or a pair of first piston rods 113D, 114D and a pair of second lead screws or a pair of second piston rods (not shown)).

[0158] Furthermore, the upper plane passive piston 200D, which is the first planar motion mechanism 200, and the lower plane passive piston (not shown), which is the second planar motion mechanism 400, are structurally identical. Here, only the upper plane passive piston 200D will be described in detail.

[0159] As shown in Figure 17, the upper plane passive piston 200D includes a piston body 210D and a piston telescopic rod 220D. On the piston body 210D, there are two first hinge holes 211D for hinged connection with a pair of first lead screws of a pair of first drive assemblies 111D or lead screw nuts or sliding sleeves 115D provided on a pair of piston rods 113D and 114D. In the center part of the piston body 210D, there is a second hinge hole 212D that is connected to one end of the guide rod assembly 600D by, for example, an upper plane hinge part (e.g., a ball joint) through hinge or other means.

[0160] In addition, a hinge fixing hole 221D is provided on the piston telescopic rod 220D for hinged with the hinge fixing part 190D provided in the platform base 100D.

[0161] When one or both of the pair of first drive assemblies 111D are driven, as shown in FIG17, the pair of first lead screws or piston rods 113D, 114D drive the upper plane passive piston 200D to perform planar motion (oscillation) through the hinge at the first hinge hole 211D and the hinge fixing hole 221D. The piston telescopic rod 220D extends or retracts relative to the piston body 210D accordingly, causing one end of the guide rod assembly 600D connected at the second hinge hole 212D through the upper plane hinge portion (e.g., ball joint) to move planarly on the first plane. In addition, the other end of the guide rod assembly 600D moves planarly on the lower plane, which is the second plane.

[0162] Furthermore, the movement of one end of the guide rod assembly 600D in the upper plane, which is the first plane, can be synchronized with the movement of the other end of the guide rod assembly 600D in the lower plane, which is the second plane. That is, the guide rod assembly 600D moves synchronously in the first and second planes. At this time, the guide rod assembly 600D does not swing relative to the platform base 100D, and the instrument 30 set on the central connecting rod guide rod assembly 600D of the integrated micro-motion platform 10D can move in the plane in a plane parallel to the first and second planes without the guide rod assembly 600D swinging.

[0163] Furthermore, the movement of one end of the guide rod assembly 600D in the upper plane, which is the first plane, can also be asynchronous with the movement of the other end of the guide rod assembly 600D in the lower plane, which is the second plane. That is, the guide rod assembly 600D performs planar movement asynchronously in the first plane and the second plane. At this time, the instrument 30 set on the guide rod assembly 600D of the integrated micro-motion platform 10D may not only translate in a plane parallel to the first plane and the second plane, but also swing.

[0164] Thus, similar to embodiments 2A to 2C of this disclosure, by utilizing the integrated micro-motion platform 10D of embodiment 2D of this disclosure, the instrument 30 disposed on the guide rod assembly 600D of the integrated micro-motion platform 10D can not only have the motion freedom to insert and withdraw along the extension direction of the guide rod assembly 600D, but also provide four degrees of freedom of motion: planar movement in a plane (first plane, second plane) perpendicular to the extension direction of the central connecting rod, and swinging in two directions.

[0165] In Embodiment 2A of this disclosure, an upper plane hinge mechanism 300A is used, which is the upper plane hinge portion in Embodiments 2B to 2D, as the first hinge mechanism 300. At the same time, in Embodiment 2A of this disclosure, a lower plane hinge mechanism 500A is used, which is the lower plane hinge portion in Embodiments 2B to 2D, as the second hinge mechanism 500. The structures of the first hinge mechanism 300 and the second hinge mechanism 500 can be, for example, the structures shown in FIG18(a), FIG18(b), FIG19(a) and FIG19(b).

[0166] As shown in Figures 18(a) and 18(b), the upper planar ball joint mechanism 300 is composed of an upper planar ball joint body 301 (upper planar ball joint contact semi-circular surface 307 and upper planar ball joint locking thread 308), an upper ball joint body 302 serving as the upper hinge ball, and an upper ball joint locking screw 303 serving as the upper planar ball joint cover. As shown in Figure 18(b), the outer peripheral surface of the upper ball joint locking screw 303 with a threaded structure engages with the upper planar ball joint locking thread 308 to lock the upper ball joint body 302 at the upper end of the positioning channel CP (refer to Figure 19(b)). The inner peripheral surface of the upper ball joint locking screw 303 has a semi-circular surface 304 that can combine with the upper planar ball joint contact semi-circular surface 307 to contact the upper ball joint body 302. Additionally, as shown in Figure 18(b), the upper ball joint body 302 has an upper ball joint arc surface 305 that can contact the inner peripheral surface (semi-arc surface 304) of the upper ball joint locking screw 303 and the upper flat ball joint contact semi-arc surface 307, and an upper ball joint hollow cylindrical surface 306 through which the upper end of the guide rod assembly 600 (see Figure 19(a)) passes. The upper flat ball joint mechanism 300 is configured such that the upper flat ball joint body 301 and the upper ball joint locking screw 303, which serves as the upper flat ball joint cover, form a receiving cavity to accommodate the upper ball joint body 302, which serves as the upper hinge ball. Furthermore, the receiving cavity is preferably formed such that the upper ball joint body 302 can move freely therein.

[0167] Furthermore, as shown in Figures 19(a) and 19(b), the lower plane ball joint mechanism 500 is composed of a lower plane ball joint body 501 (more precisely, a lower plane ball joint contact semi-circular surface 507 and a lower plane ball joint locking thread 508), a lower ball joint body 502 serving as the lower hinge ball, and a lower ball joint locking screw 503 serving as the lower plane ball joint cover. As shown in Figure 19(b), the outer peripheral surface of the lower ball joint locking screw 503, which has a threaded structure, engages with the lower plane ball joint locking thread 508 to lock the lower ball joint body 502 at the lower end of the positioning channel CP. The inner peripheral surface of the lower ball joint locking screw 503 has a semi-circular surface 504 that can combine with the lower plane ball joint contact semi-circular surface 507 to contact the lower ball joint body 502. Furthermore, as shown in Figure 19(b), the lower ball joint body 502 has a lower ball joint arc surface 505 that can contact the inner circumferential surface (semi-arc surface 504) of the lower ball joint locking screw 503 and the lower flat ball joint contact semi-arc surface 507, and a lower ball joint hollow cylindrical surface 506 through which the lower end of the guide rod assembly 600 (see Figure 19(a)) passes. The lower flat ball joint mechanism 500 is configured such that the lower flat ball joint body 501 and the lower ball joint locking screw 503, which serves as the lower flat ball joint cover, form a receiving cavity to accommodate the lower ball joint body 502, which serves as the lower hinge ball. The receiving cavity is preferably formed such that the lower ball joint body 502 can move freely therein. In addition, the lower end of the guide rod assembly 600 is integrally integrated into the lower ball joint hollow cylindrical surface 506 of the lower ball joint body 502, and the upper end passes through the upper ball joint hollow cylindrical surface 306 of the upper ball joint body 302, thereby enabling the guide rod assembly 600 to move with four degrees of freedom.

[0168] Furthermore, the structure of each hinge mechanism (first hinge mechanism 300 and second hinge mechanism 500) is not limited to the structure shown in Figures 18(a), 18(b), 19(a), and 19(b), but can also be, for example, the structure shown in Figures 20(a) and 20(b), wherein Figure 20(a) is a schematic perspective view viewed from one direction, and Figure 20(b) is a cross-sectional perspective view cut along line A4-A4 of Figure 20(a).

[0169] As shown in Figures 20(a) and 20(b), for example, taking the first hinge mechanism 300 as an example, the first hinge mechanism 300 has a ball joint first fixing member 320 and a ball joint second fixing member 330 on the outside of the connecting part 310 that connects the first planar motion mechanism (for example, the upper planar linkage mechanism 200A in embodiment 2A) to the first hinge mechanism 300 (since it is the first hinge mechanism 300 located on the upper plane, the outside of the connecting part 310 is the upper side; conversely, if it is the second hinge mechanism 500 located on the lower plane, the outside of the connecting part 310 is the lower side). The ball joint first fixing member 320 has a first semi-circular surface 321, and the ball joint second fixing member 330 has a second semi-circular surface 331. The ball joint first fixing member 320 and the ball joint second fixing member 330 are first positioned so that the first semi-circular surface 321 and the second semi-circular surface 331 form a spherical receiving cavity, and form a ball joint mechanism with the upper ball joint body 302 placed therein. Furthermore, the first fixing member 320 and the second fixing member 330 of the ball joint are each formed with positioning and fixing holes 340, and the upper fixing member 320 and the lower fixing member 330 of the ball joint are connected by fasteners (e.g., screws). Additionally, a rolling bearing 311 is provided in the connection portion 310 where the first planar motion mechanism (e.g., the upper planar linkage mechanism 200A in embodiment 2A) connects to the first hinge mechanism 300. Furthermore, the second hinge mechanism 500 has the same structure as the first hinge mechanism 300.

[0170] Thus, the ball joint mechanism formed by the spherical receiving cavity positioned by the first ball joint fixing member and the second ball joint fixing member, and the ball joint body placed therein, is located outside the connection part connecting the planar motion mechanism and the articulation mechanism. This increases the distance between the two ball joint mechanisms on the upper and lower planes, reducing the lever-like ratio for the guide rod assembly 600, thereby improving the positioning accuracy of the end device 30.

[0171] In addition, since rolling bearings are installed in the connection part connecting the planar motion mechanism (linkage mechanism) and the hinge mechanism, the friction force of the planar motion mechanism during the motion process can be reduced.

[0172] Furthermore, in this disclosure, non-magnetic materials are preferably used, such as polymers, copper alloys, ceramics, and titanium alloys, which meet magnetic compatibility performance requirements. This allows for normal operation in an MR environment without affecting the normal performance of the MR system. Alternatively, X-ray-penetrating materials, such as polymers and composite materials, can be used, allowing operation in an X-ray environment without affecting the imaging quality of the X-ray imaging equipment. However, in cases where there are no specific environmental requirements such as an MR environment or an X-ray environment, conventional materials other than those mentioned above can also be used.

[0173] In embodiment 2A of this disclosure, a positioning channel CP is formed at the center position of the platform base 100A between a pair of first drive motors 111A and a pair of second drive motors 121A, and a guide rod assembly 600A is inserted therein. However, this disclosure is not limited to this. The positioning channel and the guide rod assembly 600A may not be provided. Instead, the automatic needle insertion assembly 700 shown in FIG21(a) and FIG21(b) may be used to realize the Z-axis movement of the instrument 30 at the end.

[0174] As shown in Figures 21(a) and 21(b), the automatic needle insertion assembly 700 includes an outer piston cylinder 701, a piston member 702, and an inner piston cylinder 703. The outer piston cylinder 701 and the inner piston cylinder 703 are fixedly connected at the top, and the piston member 702 is constrained in the hollow portion between the outer piston cylinder 701 and the inner piston cylinder 703. The end of the piston member 702 extends outward from the hollow portion of the piston cylinder. Additionally, the instrument 30 can be fixed to the piston member 702 and extend outward from it through an instrument fixing hole 702a formed at the end of a rod extending outward from the main body of the piston member 702. When liquid or gas is injected from the upper end of piston 702 into the sealed main body formed by piston cylinder outer cylinder 701, piston 702, and piston cylinder inner cylinder 703, piston 702 moves downward, thereby causing instrument 30 to move downward. When liquid or gas is injected from the lower end of piston 702 into the sealed main body formed by piston cylinder outer cylinder 701, piston 702, and piston cylinder inner cylinder 703, piston 702 moves upward, thereby causing end-effector 30 to move upward. It should be understood that the above-described automatic needle insertion assembly is only one example, and this disclosure is not limited thereto.

[0175] The use of an electric motor as a drive in the various embodiments of this disclosure is just one example. This disclosure is not limited to this, and piezoelectric, hydraulic, or any type of electric motor can also be used as the drive method.

[0176] Other advantages and modifications will readily occur to those skilled in the art. Therefore, in its broader sense, this disclosure is not limited to the specific details and representative embodiments shown and described herein. Thus, modifications can be made without departing from the spirit or scope of the overall inventive concept as defined by the appended claims and their equivalents.

Claims

1. An integrated micro-motion platform, characterized in that, include: Platform seat; A first planar motion mechanism is disposed on the platform base and can be actuated to move within a first motion plane; The second planar motion mechanism is disposed on the platform base and can be actuated to move in a second motion plane parallel to the first motion plane in a manner independent of the movement of the first planar motion mechanism in the first motion plane. as well as The guide rod assembly passes through the platform base in a manner that passes through the parallel first and second motion planes and is centrally located. One end of the guide rod assembly is connected to the first planar motion mechanism via a first hinge mechanism, and the other end is connected to the second planar motion mechanism via a second hinge mechanism.

2. The integrated micro-motion platform as described in claim 1, characterized in that, The integrated micro-motion platform also includes a first actuator capable of actuating the first planar motion mechanism and a second actuator capable of actuating the second planar motion mechanism. The first actuator and the second actuator are fixedly mounted on the platform base.

3. The integrated micro-motion platform as described in claim 2, characterized in that, The first actuator is a pair of first drive motors arranged side by side. The second actuator is a pair of second drive motors arranged side by side. A pair of first drive motors and a pair of second drive motors are respectively arranged side by side in opposite directions within the corresponding motor mounting portions of the platform base.

4. The integrated micro-motion platform as described in claim 3, characterized in that, The first planar motion mechanism and the second planar motion mechanism are respectively an upper planar linkage mechanism and a lower planar linkage mechanism with four links, including a first link, two intermediate links, and a second link that are sequentially connected and hinged between the pair of first drive motors or the pair of second drive motors. The upper plane linkage mechanism, which is formed by hinged connections of the first link, two intermediate links, and the second link, and the lower plane linkage mechanism, which is formed by hinged connections of the first link, two intermediate links, and the second link, are arranged in opposite orientations.

5. The integrated micro-motion platform as described in claim 4, characterized in that, Hinged sleeves are provided at the hinge positions of the two intermediate links of the upper plane linkage mechanism and the lower plane linkage mechanism, thereby forming a positioning channel at the center position of the platform base between the pair of first drive motors and the pair of second drive motors. The guide rod assembly is positioned in the positioning channel by passing through two hinged sleeves.

6. The integrated micro-motion platform as described in claim 5, characterized in that, One end of the guide rod assembly is connected to the hinge sleeve of the upper plane linkage mechanism via a ball joint, while the other end of the guide rod assembly is connected to the hinge sleeve of the lower plane linkage mechanism via a ball joint.

7. The integrated micro-motion platform as described in claim 5 or 6, characterized in that, The guide rod assembly includes an automatic needle insertion assembly. The automatic needle feeding assembly includes a piston cylinder having an outer piston cylinder, a piston component, and an inner piston cylinder. The outer cylinder of the piston cylinder and the inner cylinder of the piston cylinder are fixedly connected at the top. The piston component is constrained in the hollow portion between the outer cylinder and the inner cylinder of the piston cylinder. The end of the piston extends outward from the hollow portion of the piston cylinder.

8. The integrated micro-motion platform as described in claim 2, characterized in that, The first actuator includes a pair of first drive components. The second actuator includes a pair of second drive components. The first drive assembly and the second drive assembly are piezoelectric motor assemblies or hydraulic cylinder assemblies, and each has a lead screw with a lead screw nut or a piston rod with a sliding sleeve.

9. The integrated micro-motion platform as described in claim 8, characterized in that, The pair of first drive components includes a first X-axis actuation component and a first Y-axis actuation component. The pair of second drive components includes a second X-axis actuation component and a second Y-axis actuation component. The first planar motion mechanism and the second planar motion mechanism are respectively an upper planar linkage mechanism and a lower planar linkage mechanism, each including a first sliding rod and a second sliding rod. One end of the first sliding rod is hinged to the hinge fixing part of the platform base. Sliding guide grooves are respectively provided on the middle part of the first sliding rod and one end of the second sliding rod. The lead screw nut or the sliding sleeve provided on the lead screw or piston rod of the pair of first drive assemblies and the pair of second drive assemblies is embedded in the sliding guide groove to actuate the first sliding rod and the second sliding rod. The other end of the first sliding rod is hinged to the middle part of the second sliding rod, and both ends of the guide rod assembly are respectively hinged to the other end of the second sliding rod.

10. The integrated micro-motion platform as described in claim 8, characterized in that, The pair of first drive components are arranged in the same orientation within the first plane of motion. The pair of second drive components are arranged in the same orientation within the second plane of motion. The orientation of the pair of first drive components is the same as or opposite to the orientation of the pair of second drive components. The first planar motion mechanism and the second planar motion mechanism are respectively an upper planar linkage mechanism and a lower planar linkage mechanism, each including a first link and a second link. One end of each of the first and second connecting rods is hinged to the lead screw nut or the sliding sleeve provided on the corresponding lead screw or piston rod. The two ends of the guide rod assembly are respectively hinged to the other ends of the first connecting rod and the second connecting rod.

11. The integrated micro-motion platform as described in claim 8, characterized in that, A pair of first drive components and a pair of second drive components are respectively fixed to the corresponding motor mounting parts inside the platform base by hinges. The first planar motion mechanism and the second planar motion mechanism are respectively an upper planar passive piston and a lower planar passive piston. The upper and lower driven pistons each include a piston body and a piston telescopic rod. Two first hinge holes are provided on the piston body for hinged connections with a lead screw nut or sliding sleeve provided on the first lead screw or piston rod of the first or second drive assembly. Both ends of the guide rod assembly are hinged to the central portion of the piston body. The piston telescopic rod is provided with a hinge fixing hole for hinged connection with the hinge fixing part provided in the platform base.

12. The integrated micro-motion platform as described in claim 1, characterized in that, The first hinge mechanism and the second hinge mechanism are ball hinge mechanisms that include a ball hinge body, a hinge ball, and a ball hinge cover. The ball joint body of the ball joint mechanism, which serves as the first hinge mechanism, is disposed on the first planar motion mechanism, or is integrally formed with the first planar motion mechanism. The ball joint body of the ball joint mechanism, which serves as the second hinge mechanism, is disposed on the second planar motion mechanism, or is integrally formed with the second planar motion mechanism. Each of the ball joint mechanisms is configured such that the ball joint body and the ball joint cover form a receiving cavity to accommodate the articulated ball.

13. The integrated micro-motion platform as described in claim 12, characterized in that, One end of the guide rod assembly is integrally formed with the hinge ball of one of the ball joint mechanisms, while the other end is slidably connected to the hinge ball of the other ball joint mechanism.

14. A pre-positioning mechanism, wherein the main structure of the pre-positioning mechanism is arc-shaped, and has an arc and a micro-motion platform fixing frame disposed on the arc, characterized in that, An integrated micro-motion platform as described in any one of claims 1 to 13 is provided on the micro-motion platform mounting frame.

15. The pre-positioning mechanism as described in claim 14, characterized in that, The pre-positioning mechanism includes a base translation component, an arc lifting component, an arc motion component, and a micro-motion platform swing component. The base translation component is configured to translate the base of the pre-positioning mechanism. The bow lifting assembly is configured to raise and lower the bow relative to the base of the pre-positioning mechanism. The arc motion component is disposed in the micro-motion platform fixture and is used to move the micro-motion platform fixture along the arc of the arc bow. The micro-motion platform swing assembly is mounted on the micro-motion platform mounting frame and is used to swing the integrated micro-motion platform mounted on the micro-motion platform mounting frame.

16. The pre-positioning mechanism as described in claim 15, characterized in that, The base translation assembly includes a fixed base, a movable base, and a guide slider. The movable base is constrained to the fixed base by the guide slider, and the movement of the movable base relative to the fixed base can be restricted or allowed by the translation locking knob provided on the movable base.

17. The pre-positioning mechanism as described in claim 15, characterized in that, The arc bow lifting assembly includes an arc bow fixing base, an arc bow connecting seat connected to both ends of the arc bow, a lifting shaft, and a shaft fixing plate. The lifting shaft is configured to restrict or allow relative rotation of the lifting shaft relative to the arc arch fixing base via a lifting locking knob located on the arc arch fixing base, and the relative rotation of the lifting shaft relative to the arc arch connecting seat is restricted by the shaft fixing plate. The arc bow connecting seat, the rotating shaft fixing plate, and the lifting rotating shaft can rotate relative to the arc bow fixing base as a whole.

18. The pre-positioning mechanism as described in claim 17, characterized in that, The arch lifting assembly includes a quick-release mechanism that detachably connects the arch connecting seat to the rotating shaft fixing plate.

19. The pre-positioning mechanism as described in claim 15, characterized in that, The arc motion assembly includes multiple limiting guides installed inside the micro-motion platform fixture and interconnected with each other, and an arc rotation locking knob for locking the multiple limiting guides. Each limiting guide part consists of a first vertical guide post, a second vertical guide post, a first horizontal guide post, and a second horizontal guide post, and is aligned with the outer peripheral surface of the arc bow from four directions to limit and guide the arc bow.

20. The pre-positioning mechanism as described in claim 19, characterized in that, Either the first vertical guide post and the second vertical guide post, and / or either the first horizontal guide post and the second horizontal guide post, are non-adjustable guide posts with a sleeve fitted onto them, and provide limiting and guiding for the arc bow from one of the opposing sides. The other of the first vertical guide post and the second vertical guide post, and / or the other of the first horizontal guide post and the second horizontal guide post, is an adjustable guide post with an eccentric sleeve having an eccentric portion fitted onto the guide post, and provides limiting and guiding for the arc bow from the other side of the opposing sides. By adjusting the eccentric portion, one of the limiting guide portions can adjust the spacing between the guide posts independently of the other limiting guide portions.

21. The pre-positioning mechanism as described in claim 15, characterized in that, The micro-motion platform swing assembly includes a swing shaft, a swing locking plate, a swing locking force transmission component, and a swing locking knob. The swing shaft is fixedly connected to the platform base of the integrated micro-motion platform and is set in the corresponding hole of the micro-motion platform fixing frame. The swing locking piece is constrained within the corresponding slot of the micro-motion platform fixing frame, and its inner surface can move radially along the swing axis to fit against the outer surface of the swing axis. The swing locking force transmission component is concentrically arranged with the swing shaft and its inner surface is in contact with the inclined surface of the outer surface of the swing locking plate. The swing locking knob is located on the outer surface of the swing locking force transmission component.

22. A medical assistive robot, characterized in that, The medical assistive robot includes a prepositioning mechanism as described in any one of claims 14 to 21.

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