Integrated micro-motion stage and medical treatment assisting robot comprising same

Abstract

An integrated micro-motion stage and a medical treatment assisting robot comprising same, involving a compact overall structural design and therefore being capable of reducing the dimension and mass of the micro-motion stage to the maximum possible extent. The integrated micro-motion stage comprises: a stage base portion; a first planar motion mechanism, provided on the stage base portion; a first X-direction hydraulic piston and a first Y-direction hydraulic piston, which are capable of actuating the first planar motion mechanism to move respectively in the X direction and the Y direction on a first motion plane; a second planar motion mechanism, provided on the stage base portion; a second X-direction hydraulic piston and a second Y-direction hydraulic piston, which are capable of actuating the second planar motion mechanism to move respectively in the X direction and the Y direction on a second motion plane; and a guide rod assembly, which is provided centrally and penetrates through the stage base portion in a manner of passing through the parallel first and second motion planes, one end of the guide rod assembly being connected to the first planar motion mechanism by means of a first hinge mechanism, and the other end of same being connected to the second planar motion mechanism by means of a second hinge mechanism.

Description

Integrated micro-motion platform and medical assistive robot including the integrated micro-motion platform Technical Field

[0001] This disclosure relates to spatial positioning technology, and more specifically to an integrated micro-motion platform and a medical assistive robot including the integrated micro-motion platform. Background Technology

[0002] Spatial positioning technology is a technique used to determine the position and orientation of an object in space. This technology has wide applications in many fields, such as manufacturing, aerospace, and medicine.

[0003] In the manufacturing sector, spatial positioning technology is primarily used to improve the automation and precision of production lines. For example, industrial robots need to accurately identify and grasp parts during assembly, which relies on high-precision spatial positioning technology.

[0004] In the aerospace field, aircraft need to determine their position and attitude in real time during launch, flight, and landing to ensure safety and navigation accuracy.

[0005] In the medical field, spatial positioning technology helps improve surgical precision and patient treatment outcomes. Surgical navigation systems utilize spatial positioning technology to provide real-time three-dimensional positions of surgical instruments and patient anatomy, thereby assisting surgeons in performing highly precise minimally invasive surgeries.

[0006] Spatial positioning technology can also be applied in the field of puncture surgery, such as for the spatial positioning of puncture needles.

[0007] In traditional puncture surgery, surgeons rely on CT images of the patient to determine the location of the lesion, then roughly determine the puncture path and perform the procedure. In recent years, stereotactic technology has helped surgeons to more precisely locate the surgical path. For example, puncture robots use actuators attached to their ends to allow the robotic arm to move freely, improving puncture accuracy. However, conventional large actuators not only have low motion precision and difficulty in performing minute movements, but also interfere with the surgical area, affecting positioning and navigation. Therefore, a compact micro-motion platform is needed to improve surgical performance. Furthermore, traditional actuators may affect positioning and navigation, and even pose safety risks, in strong magnetic field environments such as those used in MRI scans. Therefore, new micro-motion platforms are needed that are compatible with different surgical environments to expand their application range. Summary of the Invention

[0008] This disclosure is made to solve the above-mentioned problems in the prior art, and its main purpose is to provide an integrated micro-motion platform with a compact overall structure design that minimizes the size and weight of the micro-motion platform.

[0009] A secondary objective of this disclosure is to provide an integrated micro-motion platform that can reduce the impact of specific surgical environments on the performance of the micro-motion platform and broaden the application of the product.

[0010] Another object of this disclosure is to provide a medical assistive robot including the aforementioned integrated micro-motion platform.

[0011] To address the aforementioned primary objectives, this disclosure provides an integrated micro-motion platform, characterized by comprising: a platform base; a first planar motion mechanism disposed on the platform base; a first actuator including a first X-axis hydraulic piston and a first Y-axis hydraulic piston, the first X-axis hydraulic piston and the first Y-axis hydraulic piston being respectively capable of actuating the first planar motion mechanism to move along the X and Y directions in a first motion plane; a second planar motion mechanism disposed on the platform base; a second actuator including a second X-axis hydraulic piston and a second Y-axis hydraulic piston, the second X-axis hydraulic piston and the second Y-axis hydraulic piston being respectively capable of actuating the second planar motion mechanism to move along the X and Y directions 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; and a guide rod assembly, the 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.

[0012] As described above, the first and second planar motion mechanisms can move independently (with two degrees of freedom in the X and Y directions) within the parallel first and second motion planes, driven by the first X-axis hydraulic piston, the first Y-axis hydraulic piston, the second X-axis hydraulic piston, and the second Y-axis hydraulic piston. This allows for a more compact structure that minimizes interference between them. Furthermore, the guide rod assembly passes through the platform base, traversing the parallel first and second motion planes. This allows for the superposition of two degrees of freedom at one end of the guide rod assembly with two degrees of freedom at the other end, achieving four degrees of freedom movement for the guide rod assembly. 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 distances in any particular direction, resulting in a more compact overall design and minimizing the size and weight of the micro-motion platform.

[0013] Optionally, the first actuator and the second actuator are fixedly mounted on the platform base.

[0014] 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.

[0015] Alternatively, the integrated micro-motion platform may further include a first guide rod mechanism and a second guide rod mechanism, wherein the first planar motion mechanism and the second planar motion mechanism are respectively fitted onto the first guide rod mechanism and the second guide rod mechanism, and the first guide rod mechanism and the second guide rod mechanism can be actuated by the first actuator and the second actuator respectively, thereby actuating and guiding the first planar motion mechanism and the second planar motion mechanism to move in their respective motion planes.

[0016] Based on the configuration described above, a set of guide rod mechanisms can be used in each motion plane to convert the actuation of the actuator and guide the movement of each planar motion mechanism on its respective motion plane, thereby enabling precise control of the movement amount of the integrated micro-motion platform.

[0017] Specifically, the first guide rod mechanism includes two orthogonally arranged first slide rods, and the second guide rod mechanism includes two orthogonally arranged second slide rods. Further, the two ends of the two first slide rods are limited and guided by the platform base, allowing them to move in orthogonal directions on the first motion plane. Similarly, the two ends of the two second slide rods are limited and guided by the platform base, allowing them to move in orthogonal directions on the second motion plane. Even further, the platform base includes multiple guide grooves formed in orthogonal directions. The ends of each of the two orthogonally arranged first slide rods and the two ends of each of the two orthogonally arranged second slide rods pass through corresponding guide grooves and are each provided with a slider for abutting against the outer surface of the end face of the platform base.

[0018] Based on the configuration described above, multiple guide slots opened in orthogonal directions can be used to guide the extension of one of the two orthogonally arranged slide rods (first slide rod and second slide rod) in a specified direction. It is only necessary to determine the displacement of each planar motion mechanism at both ends of the guide rod assembly in the orthogonal direction and control the corresponding actuator accordingly to accurately realize the movement of the four degrees of freedom of the guide rod assembly.

[0019] Alternatively, the first planar motion mechanism includes an upper plane translation part, an upper plane first guide part, and an upper plane second guide part; the second planar motion mechanism includes a lower plane translation part, a lower plane first guide part, and a lower plane second guide part; upper plane guide sleeves are respectively provided in the upper plane first guide part and the upper plane second guide part; the two first slide rods are respectively provided in the corresponding upper plane guide sleeves and can slide relative to the first planar motion mechanism; lower plane guide sleeves are respectively provided in the lower plane first guide part and the lower plane second guide part; the two second slide rods are respectively provided in the corresponding lower plane guide sleeves and can slide relative to the second planar motion mechanism.

[0020] As described above, each planar motion mechanism utilizes guide sleeves installed within two orthogonal guide sections. When the planar motion mechanism moves in one direction, the movement of the corresponding slide rod will drive the planar motion mechanism to move accordingly via the guide sleeve fitted onto the corresponding slide rod, causing the other slide rod to slide relative to the guide sleeve fitted onto the other slide rod within the planar motion mechanism. More precisely, the other slide rod itself does not move; however, due to the movement of the planar motion mechanism, the other slide rod is displaced relative to the planar motion mechanism.

[0021] Alternatively, the first and second hinge mechanisms can be Hooke's hinge mechanisms. Furthermore, one end of the guide rod body of the guide rod assembly is fastened to one of the first and second hinge mechanisms, while the other end is slidably connected to the other of the first and second hinge mechanisms. As an alternative, the first and second hinge mechanisms are 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.

[0022] According to the configuration described above, the two ends of the guide rod assembly are connected by, for example, a Hooke's joint or a ball joint. When the first planar motion mechanism and the second planar motion mechanism are out of sync, one end of the guide rod assembly is fixedly connected or integrally formed into one of the hinge mechanisms, while the other end of the guide rod assembly is slidably connected to the other hinge mechanism, thereby giving the guide rod assembly two degrees of freedom to swing relative to the X and Y directions.

[0023] In addition, this disclosure also provides a medical assistive robot including the aforementioned integrated micro-motion platform.

[0024] This disclosure allows the use of non-magnetic materials, such as polymers, copper alloys, ceramics, and titanium alloys, which meet magnetic resonance compatibility requirements. Therefore, it can operate normally in a magnetic resonance (MR) environment without affecting the normal performance of MR. This reduces the impact of specific surgical environments on the performance of the micro-motion platform and broadens the application range of the product. Attached Figure Description

[0025] Figure 1 is a schematic diagram showing the overall structure of the integrated micro-motion platform of the medical assistive robot.

[0026] Figure 2 is a schematic perspective view of the overall structure of the integrated micro-motion platform of Embodiment 1 of this disclosure from one direction.

[0027] Figures 3(a) and 3(b) are schematic perspective views of the overall structure of the integrated micro-motion platform of Embodiment 1 of this disclosure from another direction.

[0028] Figures 4 and 5 show the internal structure of the integrated micro-motion platform of Embodiment 1 of this disclosure. In Figure 4, the structure of the upper half located inside the platform base is shown in solid lines. In Figure 5, the components inside the platform base are shown in their entirety to illustrate the inter-component interaction between the components.

[0029] Figures 6(a), 6(b), and 6(c) show schematic structures of the platform base of the integrated micro-motion platform of Embodiment 1 of this disclosure. Figure 6(a) is a schematic perspective view viewed from one direction, Figure 6(b) is a first cross-sectional perspective view cut along line AA of Figure 6(a), and Figure 6(c) is a second cross-sectional perspective view cut along line BB of Figure 6(a).

[0030] Figures 7(a), 7(b), 7(c), and 7(d) show schematic structures of the upper plane translation mechanism and the lower plane translation mechanism of the integrated micro-motion platform of Embodiment 1 of this disclosure. Figure 7(a) is a schematic perspective view viewed from one direction, Figure 7(b) is a first cross-sectional perspective view cut along line A1-A1 of Figure 7(a), Figure 7(c) is a second cross-sectional perspective view cut along line B1-B1 of Figure 7(a), and Figure 7(d) is a third cross-sectional perspective view cut along line C1-C1 of Figure 7(a).

[0031] Figures 8 and 9 show schematic structures of the upper plane hinge mechanism as the first hinge mechanism and the lower plane hinge mechanism as the second hinge mechanism of the integrated micro-motion platform of Embodiment 1 of this disclosure, respectively. Figure 8 is a schematic perspective view of the upper plane hinge mechanism and Figure 9 is a schematic perspective view of the lower plane hinge mechanism.

[0032] Figure 10 is a schematic perspective view of the guide rod assembly of the integrated micro-motion platform according to Embodiment 1 of this disclosure.

[0033] Figures 11(a), 11(b), and 11(c) are schematic structures illustrating the guide slider mechanism of the integrated micro-motion platform according to Embodiment 1 of this disclosure. Figure 11(a) is a schematic perspective view of the guide slider mechanism with a T-shaped guide slider, Figure 11(b) is a schematic perspective view of the guide slider mechanism with an L-shaped guide slider, and Figure 11(c) is a schematic perspective view of the guide slider mechanism with a π-shaped guide slider.

[0034] Figures 12(a) to 12(e) show the deformed structures of the upper plane translation mechanism and the lower plane translation mechanism. Figure 12(a) is a schematic perspective view viewed from one direction. Figure 12(b) is a first cross-sectional perspective view cut along line A3-A3 of Figure 12(a). Figure 12(c) is a second cross-sectional perspective view cut along line B3-B3 of Figure 12(a). Figure 12(d) is a partially enlarged cross-sectional view along line B3-B3 of Figure 12(c). Figure 12(e) is a third cross-sectional perspective view cut along line B3-B3 of Figure 12(a).

[0035] Figures 13(a) and 13(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 13(b) is a perspective view of the cross section A4-A4 of Figure 13(a).

[0036] Figures 14(a) and 14(b) show the connection between the lower plane ball joint mechanism and the lower plane translation mechanism as the second hinge mechanism. Figure 14(b) is a perspective view of the cross section A5-A5 of Figure 14(a). Detailed Implementation

[0037] First, referring to FIG1, the medical assistive robot 1 and the integrated micro-motion platform 10 of the present disclosure will be schematically described, wherein FIG1 is a schematic diagram showing the overall structure of the integrated micro-motion platform 10 of the medical assistive robot 1.

[0038] The medical assistive robot 1 includes an integrated micro-motion platform 10 and an instrument 30 disposed on a guide rod assembly 600 of the integrated micro-motion platform 10 (see Figure 2).

[0039] The device 30 may 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 may 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 particularly advantageous in neurosurgery; the medical assistive robot 1 of this disclosure is, for example, a neurointerventional MRI-compatible medical assistive robot.

[0040] The medical assistive robot 1 is connected to a patient table or other fixed object (e.g., a wall) via an adjustable arm (not shown). The adjustable arm allows the medical assistive robot 1 to move significantly relative to the patient on the patient table, for example, moving it directly above the patient or moving it away from the patient. Furthermore, after moving the medical assistive robot 1 directly above the patient (e.g., above the patient's lesion) using the adjustable arm, it can be micro-moved via an integrated micro-motion platform 10 to ensure that the instruments 30 mounted on the integrated micro-motion platform 10 are always accurately aligned with the lesion location during the surgical procedure.

[0041] As shown in Figure 1, 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.

[0042] 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.

[0043] 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).

[0044] 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.

[0045] 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 neuro-interventional MRI-compatible medical assistive robot (medical assistive robot 1) can control the instruments 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.

[0046] In this disclosure, several different embodiments of the integrated micro-motion platform 10 having the above structure will be provided. The specific structures of each embodiment will be described in detail below with reference to the accompanying drawings. Furthermore, in the description of each embodiment, identical or equivalent components are described using the same numerical prefix, with only the letter suffix changing.

[0047] (Example 1)

[0048] First, referring to Figures 2 to 11(a), 11(b), and 11(c), the integrated micro-motion platform 10A of Embodiment 1 of this disclosure will be described.

[0049] Figures 2, 3(a), and 3(b) show the overall structure of the integrated micro-motion platform 10A according to Embodiment 1 of this disclosure. Figure 2 is a schematic perspective view from one direction, and Figures 3(a) and 3(b) are schematic perspective views from another direction. In addition, compared to Figure 3(a), Figure 3(b) omits the illustration of the hydraulic cylinder end cap and hydraulic rod, which serve as the actuator, for the hydraulic piston. Figures 4 and 5 show the internal structure of the integrated micro-motion platform 10A according to Embodiment 1 of this disclosure. Figure 4 shows the structure of the upper half located inside the platform base 100A with solid lines, and Figure 5 shows the entire internal components of the platform base 100A to illustrate the inter-component interaction between the components.

[0050] As shown in Figure 2, the integrated micro-motion platform 10A of Embodiment 1 of this disclosure includes a platform base 100A, an upper plane translation mechanism 200A as a first planar motion mechanism 200, an upper plane hinge mechanism 300A as a first hinge mechanism 300, a lower plane translation mechanism 400A as a second planar motion mechanism 400, a lower plane hinge mechanism 500A as a second hinge mechanism 500, a guide rod assembly 600A, and guide rod mechanisms 700A (first guide rod mechanism 710A and second guide rod mechanism 720A). The first guide rod mechanism 710A includes two orthogonally arranged first slide rods (X-direction guide slide rod 711A and Y-direction guide slide rod 712A), while the second guide rod mechanism 720A includes two orthogonally arranged second slide rods (X-direction guide slide rod 721A and Y-direction guide slide rod 722A).

[0051] Figures 6(a), 6(b), and 6(c) show a schematic structure of the platform base 100A of the integrated micro-motion platform 10A of Embodiment 1 of this disclosure. Figure 6(a) is a schematic perspective view viewed from one direction, Figure 6(b) is a first cross-sectional perspective view cut along line AA of Figure 6(a), and Figure 6(c) is a second cross-sectional perspective view cut along line BB of Figure 6(a).

[0052] As shown in Figures 4, 6(b), and 6(c), a first X-direction hydraulic piston 111A and a first Y-direction hydraulic piston 112A, serving as first actuators 110A, and a second X-direction hydraulic piston 121A and a second Y-direction hydraulic piston 122A, serving as second actuators 120A, are provided within the platform base 100A. Each actuator (first X-direction hydraulic piston 111A, first Y-direction hydraulic piston 112A, second X-direction hydraulic piston 121A, and second Y-direction hydraulic piston 122A) is respectively disposed in a corresponding hydraulic hole 130A inside the platform base 100A, and can be actuated accordingly in the X or Y direction under hydraulic pressure.

[0053] Additionally, as shown in Figures 4, 6(a), 6(b), and 6(c), a connecting hole 150A is provided on the platform base 100A, corresponding to one end of each actuator (first X-direction hydraulic piston 111A, first Y-direction hydraulic piston 112A, second X-direction hydraulic piston 121A, and second Y-direction hydraulic piston 122A). Furthermore, a hydraulic cylinder end cap 140A is provided on the platform base 100A, corresponding to the other end of each actuator (first X-direction hydraulic piston 111A, first Y-direction hydraulic piston 112A, second X-direction hydraulic piston 121A, and second Y-direction hydraulic piston 122A). In other words, the first end face X1 in the X direction and the first end face Y1 in the Y direction, which have connecting holes 150A, are respectively opposite to the second end face X2 in the X direction and the second end face Y2 in the Y direction, which have hydraulic cylinder end covers 140A. It should be understood that the mounting method of the hydraulic pistons of each actuator relative to the platform base and the corresponding structure of the platform base used here are only examples, and this disclosure is not limited thereto.

[0054] In addition, as shown in Figures 4, 5, and 6(b), a first Y-direction through hole 131A and a second Y-direction through hole 141A are respectively provided at one end of the first X-direction hydraulic piston 111A and the second X-direction hydraulic piston 121A, as well as a first X-direction locking portion 151A and a second X-direction locking portion 161A that extend from one end face along the X direction to the first Y-direction through hole 131A and the second Y-direction through hole 141A. Furthermore, as shown in Figures 4 and 5, the X-direction guide slide 711A, serving as the first slide, and the X-direction guide slide 721A, serving as the second slide, pass through the first Y-direction through hole 131A and the second Y-direction through hole 141A, respectively. As shown in Figures 4 and 6(b), at the two connecting holes 150A opened on the first end face X1 in the X direction, they are respectively locked and fixed to the first X-direction locked portion 151A of the first X-direction hydraulic piston 111A and the second X-direction locked portion 161A of the second X-direction hydraulic piston 121A through X-direction locking components 153A and 163A. Thus, the X-direction guide slide 711A, serving as the first slide, and the X-direction guide slide 721A, serving as the second slide, can be actuated by the first X-direction hydraulic piston 111A, serving as the first actuator 110A, and the second X-direction hydraulic piston 121A, serving as the second actuator 120A, respectively. Furthermore, as shown in Figures 3, 4, 6(a), and 6(c), corresponding slider X-direction guide grooves 171A are provided on the first Y-direction end face Y1 and the second Y-direction end face Y2 of the platform base 100A, which correspond to the first Y-direction through hole 131A and the second Y-direction through hole 141A in the Y-direction direction, respectively. The two ends of the X-direction guide slide 711A of the first guide rod mechanism 710A and the X-direction guide slide 721A of the second guide rod mechanism 720A are limited and guided by the slider X-direction guide grooves 171A of the platform base 100, so that the X-direction guide slides 711A and 721A can move along the X-direction on their respective motion planes (upper plane and lower plane).

[0055] Similarly, as shown in Figures 4 and 6(c), a first X-direction through hole 132A and a second X-direction through hole 142A extending along the X direction are respectively provided at one end of the first Y-direction hydraulic piston 112A and the second Y-direction hydraulic piston 122A, as well as a first Y-direction fastened portion 152A and a second Y-direction fastened portion 162A extending from the end face of one end along the Y direction to the first X-direction through hole 132A and the second X-direction through hole 142A. Furthermore, as shown in Figures 4 and 5, the Y-direction guide slide 712A, serving as the first slide, and the Y-direction guide slide 722A, serving as the second slide, pass through the first X-direction through hole 132A and the second X-direction through hole 142A, respectively. As shown in Figures 4 and 6(c), at the two connecting holes 150A opened on the second end face Y2 in the Y direction, they are respectively locked and fixed to the first Y-direction locked portion 152A of the first Y-direction hydraulic piston 112A and the second Y-direction locked portion 162A of the second Y-direction hydraulic piston 122A through Y-direction locking components 154A and 164A. Thus, the Y-direction guide slide 712A, serving as the first slide, and the Y-direction guide slide 722A, serving as the second slide, can be actuated by the first Y-direction hydraulic piston 112A, serving as the first actuator 110A, and the second Y-direction hydraulic piston 122A, serving as the second actuator 120A, respectively. Furthermore, as shown in Figures 3, 4, 6(a), and 6(b), corresponding slider Y-direction guide grooves 172A are provided on the first end face X1 and the second end face X2 in the X direction, respectively, corresponding to the first X-direction through hole 132A and the second X-direction through hole 142A in the X direction, on the platform base 100A. The two ends of the Y-direction guide slide 712A of the first guide rod mechanism 710A and the Y-direction guide slide 722A of the second guide rod mechanism 720A are limited and guided by the slider Y-direction guide grooves 172A of the platform base 100, so that the Y-direction guide slides 712A and 722A can move along the Y direction on their respective motion planes (upper plane and lower plane).

[0056] In other words, the two ends of the two first slide rods of the first guide rod mechanism 710A are limited and guided by the platform seat 100A (the slider X-direction guide groove 171A and the slider Y-direction guide groove 172A), so that the two first slide rods can move in orthogonal directions on the first motion plane (upper plane), and the two ends of the two second slide rods of the second guide rod mechanism 720A are limited and guided by the platform seat 100A (the slider X-direction guide groove 171A and the slider Y-direction guide groove 172A), so that the two second slide rods can move in orthogonal directions on the second motion plane (lower plane).

[0057] Figures 7(a), 7(b), 7(c), and 7(d) show schematic structures of the upper plane translation mechanism 200A and the lower plane translation mechanism 400A of the integrated micro-motion platform 10A of Embodiment 1 of this disclosure. Figure 7(a) is a schematic perspective view viewed from one direction, Figure 7(b) is a first cross-sectional perspective view cut along line A1-A1 of Figure 7(a), Figure 7(c) is a second cross-sectional perspective view cut along line B1-B1 of Figure 7(a), and Figure 7(d) is a third cross-sectional perspective view cut along line C1-C1 of Figure 7(a).

[0058] In addition, in Figures 7(a), 7(b), 7(c) and 7(d), the upper plane translation mechanism 200A and the lower plane translation mechanism 400A are completely identical in shape and structure, except that their plane positions and orientations are different (they are mirror images of each other).

[0059] As shown in Figure 7(a), the upper plane translation mechanism 200A includes an upper plane translation section 201A, an upper plane first guide section 202A, and an upper plane second guide section 203A. Furthermore, as shown in Figures 7(b) and 7(c), upper plane guide sleeves 204A are respectively installed in the upper plane first guide section 202A and the upper plane second guide section 203A. Two first slide rods (X-direction guide slide rod 711A and Y-direction guide slide rod 712A) are respectively disposed in the corresponding upper plane guide sleeves 204A and can slide relative to the upper plane translation mechanism 200A. That is, the upper plane translation mechanism 200A is fitted onto the two orthogonally arranged first slide rods of the first guide rod mechanism 710A. In addition, as shown in Figure 7(d), a bearing mounting seat 205A and a bearing outer ring pressure plate 206A, which are connected to the upper plane hinge mechanism 300A shown in Figure 8 below, are provided in the upper plane translation section 201A. Thus, the two first slide rods (X-direction guide slide rod 711A and Y-direction guide slide rod 712A) of the first guide rod mechanism 710A can be actuated by the first X-direction hydraulic piston 111A and the first Y-direction hydraulic piston 112A, which are respectively used as the first actuator 110A, thereby actuating and guiding the upper plane translation mechanism 200A to move within the first plane (upper plane).

[0060] Similarly, the lower plane translation mechanism 400A also includes a lower plane translation section 401A, a lower plane first guide section 402A, and a lower plane second guide section 403A. Furthermore, as shown in Figures 7(b) and 7(c), lower plane guide sleeves 404A are respectively provided within the lower plane first guide section 402A and the lower plane second guide section 403A. Two second slide rods (X-direction guide slide rod 721A and Y-direction guide slide rod 722A) are respectively provided within the corresponding lower plane guide sleeves 404A and can slide relative to the lower plane translation mechanism 400A. That is, the lower plane translation mechanism 400A is fitted onto the two orthogonally arranged second slide rods of the second guide rod mechanism 720A. In addition, as shown in Figure 7(d), a bearing mounting seat 405A and a bearing outer ring pressure plate 406A, which are connected to the lower plane hinge mechanism 500A shown in Figure 9 below, are provided within the lower plane translation section 401A. Therefore, the two second slide rods (X-direction guide slide rod 721A and Y-direction guide slide rod 722A) of the second guide rod mechanism 720A can be actuated by the second X-direction hydraulic piston 121A and the second Y-direction hydraulic piston 122A, which are the second actuators 120A, respectively, thereby actuating and guiding the lower plane translation mechanism 400A to move in the second plane (lower plane).

[0061] Figures 8 and 9 show schematic structures of the upper plane hinge mechanism 300A, which serves as the first hinge mechanism 300A, and the lower plane hinge mechanism 500A, which serves as the second hinge mechanism 500A, respectively, of the integrated micro-motion platform 10A of Embodiment 1 of this disclosure. Figure 8 is a schematic perspective view of the upper plane hinge mechanism 300A, and Figure 9 is a schematic perspective view of the lower plane hinge mechanism 500A. Additionally, Figure 10 is a schematic perspective view of the guide rod assembly 600A of the integrated micro-motion platform 10A of Embodiment 1 of this disclosure.

[0062] As shown in Figure 8, the upper plane hinge mechanism 300A is composed, for example, an upper Hooke hinge body 301A, an upper Hooke hinge rotating body 302A, a threaded hole 303A, a bearing pressure plate 304A, and a bearing 305A. The upper Hooke hinge rotating body 302A is installed inside the upper Hooke hinge body 301A and is axially positioned by the bearing pressure plate 304A, allowing it to rotate relative to the upper Hooke hinge body. Furthermore, the threaded hole 303A is fixedly connected to one end of the guide rod assembly 600A (the upper end of the guide rod body 601A in Figure 10), while the bearing 305A is installed in the bearing mounting seat 205A of the upper plane translation mechanism 200A (upper plane translation part 201A) shown in Figure 7(d).

[0063] Furthermore, as shown in Figure 9, the lower plane hinge mechanism 500A is, for example, composed of a lower Hooke hinge body 501A, a lower Hooke hinge rotating body 502A, a guide hole 503A, a bearing pressure plate 504A, and a bearing 505A. The lower Hooke hinge rotating body 502A is installed inside the lower Hooke hinge body 501A and is axially positioned by the bearing pressure plate 504A, allowing it to rotate relative to the lower plane. Additionally, the guide hole 503A is slidably connected to the other end of the guide rod assembly 600A shown in Figure 10 (the lower end of the guide rod body 601A in Figure 10), and the bearing 505A is installed in the bearing mounting seat 405A of the lower plane translation mechanism 400A (lower plane translation part 401A) shown in Figure 7(d).

[0064] In addition, in this embodiment, the example is described with one end of the guide rod body 601A fixedly connected to the upper plane hinge mechanism 300A and the other end slidably connected to the lower plane hinge mechanism 500A. However, this disclosure is not limited to this. It is sufficient that one end of the guide rod body 601A is fixedly connected to one of the upper plane hinge mechanism 300A and the lower plane hinge mechanism 500A, and the other end is slidably connected to the other of the upper plane hinge mechanism 300A and the lower plane hinge mechanism 500A.

[0065] The guide rod assembly 600A is centrally located on the integrated micro-motion platform 10A, and an instrument 30 is connected to its end, as shown in Figure 10. The guide rod assembly 600A consists of a guide rod body 601A and a locking part 602A located at the upper end of the guide rod body 601A. After one end (upper end) of the guide rod body 601A is screwed into the threaded hole 303A of the upper plane hinge mechanism 300A, it is locked using the locking part 602A. The other end (lower end) of the guide rod body 601A passes through the guide hole 503A of the lower plane hinge mechanism 500A and can be slidably connected.

[0066] Figures 11(a), 11(b), and 11(c) are schematic structures illustrating the guide rod mechanism 700A of the integrated micro-motion platform 10A according to Embodiment 1 of this disclosure. Figure 11(a) is a schematic perspective view of the guide rod mechanism 700A with a T-shaped slider 701A, Figure 11(b) is a schematic perspective view of the guide rod mechanism 700A with an L-shaped slider 701A', and Figure 11(c) is a schematic perspective view of the guide rod mechanism 700A with a π-shaped slider 701A”.

[0067] In addition, the X-direction guide slides 711A and 721A and the Y-direction guide slides 712A and 722A are completely identical in shape and structure except for their orientation (they are respectively extended along the X and Y directions that are orthogonal to each other). Therefore, in the following description, the orientation of the X and Y directions will not be considered, and only the structure of the slides (the first slide and the second slide) will be described.

[0068] As shown in Figures 11(a), 11(b), and 11(c), the slide bar consists of a slider 701A, a slide bar body 702A, and a locking screw 703A. The multiple slider X-direction guide grooves 171A and multiple slider Y-direction guide grooves 172A described above constitute guide grooves opened in orthogonal directions. Both ends of the slide bar (slide bar body 702A) pass through the corresponding guide grooves, and sliders 701A are respectively provided at both ends of the slide bar (slide bar body 702A).

[0069] As an example, slider 701A has a stepped portion formed by a first guide surface 704A and a second guide surface 705A. Additionally, in FIG11(a), slider 701A is, for example, T-shaped, i.e., has two stepped portions symmetrical about the extending direction of slider 702A. However, this disclosure is not limited to this; slider 701A can also be L-shaped as shown in FIG11(b), or π-shaped as shown in FIG11(c), or of course, any other suitable shape.

[0070] In the example configuration, as shown in Figures 3(a), 4, and 11(a), the first guide surface 704A contacts the guide surfaces of corresponding guide grooves provided on the end face of the platform base 100A, while the second guide surface 705A is positioned and fixed to the outer surface of the end face of the platform base 100A using locking screws 703A. Furthermore, in this disclosure, the slider 701A is not limited to the example structure with a stepped portion; the slider 701A only needs to be able to abut against the outer surface of the end face of the platform base 100A.

[0071] Next, referring to the internal structure of Figures 4 and 5 and the connection relationships between the components described above, the operation of the integrated micro-motion platform 10A of Embodiment 1 of this disclosure, configured as described above, will be explained.

[0072] As shown in Figures 4 and 5, the upper plane translation mechanism 200A, driven by the first X-direction hydraulic piston 111A and constrained by the X-direction guide slide 711A of the first guide rod mechanism 710A and the corresponding slider X-direction guide grooves 171A respectively disposed on the corresponding Y-direction first end face Y1 and Y-direction second end face Y2, moves along the X-direction in the upper plane, which is the first plane. Furthermore, driven by the first Y-direction hydraulic piston 112A and constrained by the Y-direction guide slide 711A of the first guide rod mechanism 710A and the corresponding slider X-direction guide grooves 171A respectively disposed on the corresponding X-direction first end face X1 and Y2, it moves along the X-direction in the upper plane, which is the first plane. Under the constraint of the corresponding slider Y-direction guide groove 172A on the second end face X2, the slider moves along the Y direction in the upper plane, which is the first plane. Thus, as the upper plane translation mechanism 200A moves with two degrees of freedom in the X and Y directions, the upper plane hinge mechanism 300A connected to the upper plane translation mechanism 200A via the bearing 305A and one end (upper end) of the guide rod assembly 600A fixedly connected to the upper plane hinge mechanism 300A can also move with two degrees of freedom (i.e., in the X and / or Y directions) in the upper plane, which is the first plane.

[0073] More specifically, as shown in Figures 4 and 5, when only the first X-direction hydraulic piston 111A drives the upper plane translation mechanism 200A along the X direction, since the slide rod 702A of the X-direction guide slide rod 711A of the first X-direction hydraulic piston 111A passes through the first Y-direction through hole 131A of the first X-direction hydraulic piston 111A and passes through the first guide portion 202A of the upper plane of the upper plane translation mechanism 200A, and the X-direction guide slide rod 711A of the first guide rod mechanism 710A is located at the slide... The first guide surface 704A of the sliders 701A at both ends of the rod 702A contacts the guide surfaces of the corresponding slider X-direction guide grooves 171A provided on the first end face Y1 and the second end face Y2 in the Y direction of the platform base 100A. Therefore, the X-direction guide slide 711A of the first guide rod mechanism 710A will move along the X direction in the upper plane under the constraint and guidance of the guide surface of the slider X-direction guide groove 171A, and drive the upper plane translation mechanism 200A to move in the upper plane. Moving inward along the X direction, at this time, since the slide 702A of the Y-direction guide slide 712A of the first guide rod mechanism 710A passes through the first X-direction through hole 132A of the first Y-direction hydraulic piston 112A and through the second guide portion 203A of the upper plane of the upper plane translation mechanism 200A, and the second guide surface 705A of the slider 701A located at both ends of the slide 702A of the Y-direction guide slide 712A of the first guide rod mechanism 710A is fixed by the locking screw 703A. The first guide rod 710A is fixed at the outer surface of the first end face X1 and the second end face X2 in the X direction of the platform base 100A. Therefore, the Y-direction guide slide 712A of the first guide rod mechanism 710A slides relative to the upper plane translation mechanism 200A in the second guide portion 203A of the upper plane. More precisely, the Y-direction guide slide 712A of the first guide rod mechanism 710A is stationary, and the upper plane translation mechanism 200A moves in the X direction in the upper plane but does not move in the Y direction in the upper plane. Similarly, when only the first Y-direction hydraulic piston 112A drives the upper plane translation mechanism 200A along the Y direction, the Y-direction guide slide 712A of the first guide rod mechanism 710A will move along the Y direction in the upper plane under the constraint and guidance of the guide surface of the slider Y-direction guide groove 172A, and drive the upper plane translation mechanism 200A to move along the Y direction in the upper plane. At the same time, the X-direction guide slide 711A of the first guide rod mechanism 710A slides relative to the upper plane translation mechanism 200A in the first guide portion 202A of the upper plane. More precisely, the X-direction guide slide 711A of the first guide rod mechanism 710A does not move, and the upper plane translation mechanism 200A moves along the Y direction in the upper plane but does not move along the X direction in the upper plane. Similarly, when the first X-axis hydraulic piston 111A and the first Y-axis hydraulic piston 112A drive the upper plane translation mechanism 200A along the X and Y directions respectively, the upper plane translation mechanism 200A moves simultaneously along the X and Y directions within the upper plane.

[0074] Similar to the upper plane translation mechanism 200A, as shown in Figure 5, the lower plane translation mechanism 400A, driven by the second X-direction hydraulic piston 121A and constrained by the X-direction guide slide 721A of the second guide rod mechanism 720A and the corresponding slider X-direction guide grooves 171A respectively disposed on the corresponding first end face Y1 and second end face Y2 in the Y direction, moves along the X direction in the lower plane, which is the second plane. Furthermore, driven by the second Y-direction hydraulic piston 122A and constrained by the Y-direction guide slide 721A of the second guide rod mechanism 720A and the corresponding slider X-direction guide grooves 171A respectively disposed on the corresponding first end face Y1 and second end face Y2 in the Y direction, it moves along the X direction in the lower plane, which is the second plane. Under the constraint of the corresponding slider Y-direction guide groove 172A on end face X1 and the second end face X2 in the X direction, the slider moves in the Y direction within the lower plane, which is the second plane. Thus, as the lower plane translation mechanism 400A moves with two degrees of freedom in the X and Y directions, the other end (lower end) of the lower plane hinge mechanism 500A connected to the lower plane translation mechanism 400A via bearing 505A and the guide rod assembly 600A fixedly connected to the lower plane hinge mechanism 500A can also move with two degrees of freedom (i.e., in the X and / or Y directions) within the lower plane, which is the second plane.

[0075] More specifically, when only the second X-direction hydraulic piston 121A drives the lower plane translation mechanism 400A along the X direction, since the slide rod 702A of the X-direction guide slide rod 721A of the second guide rod mechanism 720A passes through the second Y-direction through hole 141A of the second X-direction hydraulic piston 121A and passes through the lower plane translation mechanism 400A's lower plane first guide portion 402A, and the X-direction guide slide rod 721A of the second guide rod mechanism 720A is located at both ends of the slide rod 702A... The first guide surface 704A of the slider 701A at the end contacts the guide surfaces of the corresponding slider X-direction guide grooves 171A provided on the first end face Y1 and the second end face Y2 in the Y direction of the platform base 100A, respectively. Therefore, the X-direction guide slide 721A of the second guide rod mechanism 720A will move in the lower plane along the X direction under the constraint and guidance of the guide surface of the slider X-direction guide groove 171A, and drive the lower plane translation mechanism 400A to move in the lower plane along the X direction. When the second guide rod mechanism 720A moves in the direction of the Y-direction guide slide 722A, the slide 702A passes through the second X-direction through hole 142A of the second Y-direction hydraulic piston 122A and through the second guide portion 403A of the lower plane of the lower plane translation mechanism 400A. Furthermore, the second guide surface 705A of the slider 701A located at both ends of the slide 702A of the Y-direction guide slide 722A of the second guide rod mechanism 720A is fixed in place by the locking screw 703A. At the outer surfaces of the first end face X1 and the second end face X2 in the X direction of the platform base 100A, the Y-direction guide slide 722A of the second guide rod mechanism 720A slides relative to the lower plane translation mechanism 400A within the second guide portion 403A of the lower plane. More precisely, the Y-direction guide slide 722A of the second guide rod mechanism 720A remains stationary, while the lower plane translation mechanism 400A moves in the X direction in the upper plane but not in the Y direction in the lower plane. Similarly, when only the second Y-direction hydraulic piston 122A drives the lower plane translation mechanism 400A along the Y direction, the Y-direction guide slide 722A of the second guide rod mechanism 720A will move along the Y direction in the lower plane under the constraint and guidance of the guide surface of the slider Y-direction guide groove 172A, and drive the lower plane translation mechanism 400A to move along the Y direction in the lower plane. At the same time, the X-direction guide slide 721A of the second guide rod mechanism 720A slides relative to the lower plane translation mechanism 400A in the first guide portion 402A of the lower plane. More precisely, the X-direction guide slide 721A of the second guide rod mechanism 720A remains stationary, and the lower plane translation mechanism 400A moves along the Y direction in the lower plane but does not move along the X direction in the lower plane. Similarly, when the second X-axis hydraulic piston 121A and the second Y-axis hydraulic piston 122A drive the lower plane translation mechanism 400A along the X and Y directions respectively, the lower plane translation mechanism 400A moves simultaneously along the X and Y directions within the lower plane.

[0076] Furthermore, the movement of one end (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 other end (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 X and / or Y directions in the first and second planes. At this time, the instrument 30 set on the guide rod assembly 600A of the integrated micro-motion platform 10A can be translated in the X and / or Y directions in a plane parallel to the first and second planes, and the guide rod assembly 600A will not swing around the X and Y directions.

[0077] Furthermore, the movement of one end (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 other end (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 asynchronously in the X and / or Y directions in the first and second planes. At this time, the instrument 30 on the guide rod assembly 600A of the integrated micro-motion platform 10A may not only translate in the X and / or Y directions in the plane parallel to the first and second planes, but also swing around the X and / or Y directions.

[0078] Thus, by utilizing the integrated micro-motion platform 10A of Embodiment 1 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: translation along the X and / or Y directions and swinging around the X and / or Y directions.

[0079] It should be understood that the specific structures of the upper plane translation mechanism 200A, the upper plane hinge mechanism 300A, the lower plane translation mechanism 400A, and the lower plane hinge mechanism 500A used herein, as well as their connection relationships and modes of motion, are merely preferred examples, and this disclosure is not limited thereto. Other mechanisms, components, or even combinations of multiple mechanisms and components can be used as substitutes, as long as the corresponding functions of the respective mechanisms can be achieved.

[0080] (Modified Example)

[0081] In Embodiment 1 of this disclosure, the upper plane translation mechanism 200A and the lower plane translation mechanism 400A shown in Figures 7(a), 7(b), 7(c), and 7(d) are used as the first planar motion mechanism 200 and the second planar motion mechanism 400, respectively. The upper plane hinge mechanism 300A shown in Figure 8 and the lower plane hinge mechanism 500A shown in Figure 9 are used as the first hinge mechanism 300 and the second hinge mechanism 500, respectively. The bearing 305A of the upper plane hinge mechanism 300A is mounted on the bearing mounting seat 20 of the upper plane translation part 201A of the upper plane translation mechanism 200A shown in Figure 7(d). Within 5A, the bearing 505A of the lower plane hinge mechanism 500A is installed in the bearing mounting seat 405A of the lower plane translation part 401A of the lower plane translation mechanism 400A shown in FIG7(d). However, the structural configuration of the first plane motion mechanism and the second plane motion mechanism (upper plane translation mechanism and lower plane translation mechanism), the first hinge mechanism and the second hinge mechanism of this disclosure, as well as the connection method between them, are not limited to Embodiment 1. They can also be the structural configuration and connection method shown in FIG12(a) to FIG12(e), FIG13(a), FIG13(b), FIG14(a) and FIG14(b).

[0082] More specifically, Figures 12(a) to 12(e) show the modified structures of the upper plane translation mechanism and the lower plane translation mechanism (upper plane ball joint translation mechanism 200F and lower plane ball joint translation mechanism 400F). Figure 12(a) is a schematic perspective view viewed from one direction, Figure 12(b) is a first cross-sectional perspective view cut along line A3-A3 of Figure 12(a), Figure 12(c) is a second cross-sectional perspective view cut along line B3-B3 of Figure 12(a), Figure 12(d) is a partially enlarged cross-sectional view along line B3-B3 of Figure 12(c), and Figure 12(e) is a third cross-sectional perspective view cut along line B3-B3 of Figure 12(a). In addition, Figures 13(a) and 13(b) show the connection between the upper plane ball joint mechanism 300F and the upper plane ball joint translation mechanism 200F, which are the first hinge mechanism. Figure 13(b) is a perspective view of the cross section along A4-A4 of Figure 13(a). Figures 14(a) and 14(b) show the connection between the lower plane ball joint mechanism 500F and the lower plane ball joint translation mechanism 400F, which are the second hinge mechanism. Figure 14(b) is a perspective view of the cross section along A5-A5 of Figure 14(a).

[0083] As shown in Figures 12(a) to 12(d), the upper plane translation mechanism 200F and the lower plane ball joint translation mechanism 400F respectively have an upper plane ball joint body 201F and a lower plane ball joint body 401F. The upper plane ball joint body 201F and the lower plane ball joint body 401F respectively have first guide slider through holes 202F and 402F that pass through in a first direction (e.g., the X direction) and second guide slider through holes 203F and 403F that pass through in a second direction (e.g., the Y direction). For example, the X-direction guide sliders 711A and 721A and the Y-direction guide sliders 712A and 722A shown in Figure 11(a) respectively pass through the first guide slider through holes 202F and 402F that pass through in the first direction (e.g., the X direction) and the second guide slider through holes 203F and 403F that pass through in the second direction (e.g., the Y direction) of the upper plane ball joint body 201F and the lower plane ball joint body 401F.

[0084] As shown in Figure 12(b), either of the first guide slider through holes 202F and 402F or the second guide slider through holes 203F and 403F (e.g., the second guide slider through holes 203F and 403F) is provided with translational guide bushings 204F and 404F that enclose the two ends of the slide rod 702A of, for example, the Y-direction guide slide rods 712A and 722A. Through the relative sliding of the two translational guide bushings 204F and 404F in the Y-direction within the second guide slider through holes 203F and 403F, the Y-direction guide slide rods 712A and 722A can undergo relative displacement in the Y-direction without the upper plane ball joint body 201F and the lower plane ball joint body 401F themselves moving in the Y-direction.

[0085] Additionally, in the other of the first guide slider through holes 202F, 402F and the second guide slider through holes 203F, 403F (e.g., the first guide slider through holes 202F, 402F), it can be configured as shown in FIG12(b), or it can be configured as shown in FIG12(c) and FIG12(d) with a ball joint mechanism that covers only one end of the slide rod 702A of, for example, the X-direction guide slide rods 711A, 721A. That is, in the other of the first guide slider through holes 202F, 402F and the second guide slider through holes 203F, 403F (e.g., the first guide slider through hole 202F, 402F), 402F) has translational ball joint contact arc surfaces 206F and 406F that contact translational ball joints 205F and 405F, and translational ball joint locking screws 207F and 407F that lock translational ball joints 205F and 405F. Thus, the upper plane ball joint body 201F and the lower plane ball joint body 401F (more precisely, for example, the first guide slider through hole 202F and 402F), the translational ball joints 205F and 405F, and the translational ball joint locking screws 207F and 407F constitute a ball joint mechanism that fits only one end of the slide rod 702A of, for example, the X-direction guide slide rods 711A and 721A. Furthermore, as shown in Figures 12(c) and 12(d), the translational ball joints 205F and 405F have hollow cylindrical surfaces 205aF and 405aF, respectively, through which the slide rod 702A of the X-direction guide slide rods 711A and 721A passes and can move in the X-direction. Additionally, the translational ball joint locking screws 207F and 407F restrict the movement of the translational ball joints 205F and 405F (and the slide rod 702A of the X-direction guide slide rods 711A and 721A passing through the hollow cylindrical surfaces 205aF and 405aF of the translational ball joints 205F and 405F) in the Y and Z directions. Thus, the X-direction guide slide rods 711A and 721A can undergo relative displacement in the X-direction without the upper plane ball joint body 201F and the lower plane ball joint body 401F themselves moving in the X-direction.

[0086] Furthermore, as shown in Figure 12(d), the upper plane ball joint body 201F and the lower plane ball joint body 401F are also provided with positioning channels CP for the insertion of the guide rod assembly 600F. The upper plane ball joint contact semi-circular surface 208F, the lower plane ball joint contact semi-circular surface 408F, the upper plane ball joint locking thread 209F, and the lower plane ball joint locking thread 409F are formed in the positioning channels CP of the upper plane ball joint body 201F and the lower plane ball joint body 401F, respectively.

[0087] Furthermore, as shown in Figures 13(a) and 13(b), the upper planar ball joint mechanism 300F is composed of an upper planar ball joint body 201F (more precisely, an upper planar ball joint contact semi-circular surface 208F and an upper planar ball joint locking thread 209F), an upper ball joint body 301F serving as the upper hinge ball, and an upper ball joint locking screw 302F serving as the upper planar ball joint cover. As shown in Figures 12(d) and 13(b), the threaded outer peripheral surface of the upper ball joint locking screw 302F engages with the upper planar ball joint locking thread 209F to lock the upper ball joint body 301F at the upper end of the positioning channel CP. The inner peripheral surface of the upper ball joint locking screw 302F has a semi-circular surface 303F that can combine with the upper planar ball joint contact arc surface 208F to contact the upper ball joint body 301F. Furthermore, as shown in Figure 13(b), the upper ball joint body 301F has an upper ball joint arc surface 304F that can contact the inner peripheral surface (semi-arc surface 303F) of the upper ball joint locking screw 302F and the upper flat ball joint contact semi-arc surface 208F, and an upper ball joint hollow cylindrical surface 305F through which the upper end of the guide rod assembly 600F passes. The upper flat ball joint mechanism 300F is configured such that the upper flat ball joint body 201F and the upper ball joint locking screw 302F, which serves as the upper flat ball joint cover, form a receiving cavity to accommodate the upper ball joint body 301F, which serves as the upper hinge ball. The receiving cavity is preferably formed such that the upper ball joint body 301F can move freely within it.

[0088] Furthermore, as shown in Figures 14(a) and 14(b), the lower plane ball joint mechanism 500F is composed of a lower plane ball joint body 401F (more precisely, a lower plane ball joint contact semi-circular surface 408F and a lower plane ball joint locking thread 409F), a lower ball joint body 501F serving as the lower hinge ball, and a lower ball joint locking screw 502F serving as the lower plane ball joint cover. As shown in Figures 12(d) and 14(b), the threaded outer peripheral surface of the lower ball joint locking screw 502F engages with the lower plane ball joint locking thread 409F to lock the lower ball joint body 501F at the lower end of the positioning channel CP. The inner peripheral surface of the lower ball joint locking screw 502F has a semi-circular surface 503F that can combine with the lower plane ball joint contact arc surface 408F to contact the lower ball joint body 501F. Furthermore, as shown in Figure 14(b), the lower ball joint body 501F has a lower ball joint arc surface 504F that can contact the inner peripheral surface (semi-arc surface 503F) of the lower ball joint locking screw 502F and the lower flat ball joint contact semi-arc surface 408F, and a lower ball joint hollow cylindrical surface 505F through which the lower end of the guide rod assembly 600F passes. The lower flat ball joint mechanism 500F is configured such that the lower flat ball joint body 401F and the lower ball joint locking screw 502F, which serves as the lower flat ball joint cover, form a receiving cavity to accommodate the lower ball joint body 501F as the lower hinge ball. The receiving cavity is preferably formed such that the lower ball joint body 501F can move freely within it. In addition, the lower end of the guide rod assembly 600F is integrally integrated on the hollow cylindrical surface 505F of the lower ball joint of the lower ball joint body 501F, and the upper end passes through the hollow cylindrical surface 305F of the upper ball joint of the upper ball joint body 301F, thereby enabling the guide rod assembly 600F to move with 4 degrees of freedom.

[0089] The mechanism, consisting of an upper plane ball joint body 201F and a lower plane ball joint body 401F, an upper plane ball joint mechanism 300F and a lower plane ball joint mechanism 500F, X-direction guide slide rods 711A and 721A, Y-direction guide slide rods 712A and 722A, a first X-direction hydraulic piston 111A and a second X-direction hydraulic piston 121A, and a first Y-direction hydraulic piston 112A and a second Y-direction hydraulic piston 122A, can achieve the same linkage as the linkage between the components in Figure 5.

[0090] Furthermore, in this disclosure, non-magnetic materials are preferably used, such as polymers, copper alloys, ceramics, and titanium alloys, which meet magnetic resonance 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.

[0091] 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. The first actuator includes a first X-axis hydraulic piston and a first Y-axis hydraulic piston, which can respectively actuate the first planar motion mechanism to move along the X and Y directions in the first motion plane. A second planar motion mechanism is disposed on the platform base. The second actuator includes a second X-axis hydraulic piston and a second Y-axis hydraulic piston. The second X-axis hydraulic piston and the second Y-axis hydraulic piston are respectively capable of actuating the second planar motion mechanism to move in the X and Y directions 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 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 integrated micro-motion platform also includes a first guide rod mechanism and a second guide rod mechanism. The first planar motion mechanism and the second planar motion mechanism are respectively fitted onto the first guide rod mechanism and the second guide rod mechanism. The first guide rod mechanism and the second guide rod mechanism can be actuated by the first actuator and the second actuator respectively, thereby actuating and guiding the first planar motion mechanism and the second planar motion mechanism to move in their respective motion planes.

4. The integrated micro-motion platform as described in claim 3, characterized in that, The first guide rod mechanism includes two first slide rods arranged orthogonally. The second guide rod mechanism includes two orthogonally arranged second slide rods.

5. The integrated micro-motion platform as described in claim 4, characterized in that, The two ends of the two first slide rods are limited and guided by the platform base, enabling the two first slide rods to move in orthogonal directions on the first motion plane. The two ends of the two second slide rods are limited and guided by the platform seat, enabling the two second slide rods to move in orthogonal directions on the second motion plane.

6. The integrated micro-motion platform as described in claim 5, characterized in that, The platform base includes multiple guide slots opened in orthogonal directions. The two ends of each of the two orthogonally arranged first slide rods and the two ends of each of the two orthogonally arranged second slide rods pass through the corresponding guide grooves and are respectively provided with sliders for abutting against the outer surface of the end face of the platform base.

7. The integrated micro-motion platform as described in claim 5, characterized in that, The first planar motion mechanism includes an upper plane translation part, an upper plane first guide part, and an upper plane second guide part. The second planar motion mechanism includes a lower plane translation part, a lower plane first guide part, and a lower plane second guide part. Upper plane guide sleeves are respectively provided in the first guide portion and the second guide portion of the upper plane, and the two first slide rods are respectively disposed in the corresponding upper plane guide sleeves and can slide relative to the first planar motion mechanism. Lower plane guide sleeves are respectively provided in the first guide portion and the second guide portion of the lower plane, and the two second slide rods are respectively provided in the corresponding lower plane guide sleeves and can slide relative to the second plane motion mechanism.

8. The integrated micro-motion platform as described in claim 1, characterized in that, The first hinge mechanism and the second hinge mechanism are Hooke hinge mechanisms.

9. The integrated micro-motion platform as described in claim 8, characterized in that, One end of the guide rod body of the guide rod assembly is fastened to one of the first hinge mechanism and the second hinge mechanism, while the other end is slidably connected to the other of the first hinge mechanism and the second hinge mechanism.

10. 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.

11. The integrated micro-motion platform as described in claim 10, 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.

12. A medical assistive robot comprising an integrated micro-motion platform, characterized in that, The integrated micro-motion platform is the integrated micro-motion platform according to any one of claims 1 to 11.

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