WO2025261069A1 - 一体化微动平台及包括该一体化微动平台的医疗辅助机器人 - Google Patents

一体化微动平台及包括该一体化微动平台的医疗辅助机器人

Info

Publication number
WO2025261069A1
WO2025261069A1 PCT/CN2025/096506 CN2025096506W WO2025261069A1 WO 2025261069 A1 WO2025261069 A1 WO 2025261069A1 CN 2025096506 W CN2025096506 W CN 2025096506W WO 2025261069 A1 WO2025261069 A1 WO 2025261069A1
Authority
WO
WIPO (PCT)
Prior art keywords
motion
guide
plane
guide rod
hinge
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2025/096506
Other languages
English (en)
French (fr)
Inventor
杨广中
陈佳凡
高安柱
轩连
孟庆当
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Jiao Tong University
Precision Robotics Hong Kong Ltd
Original Assignee
Shanghai Jiao Tong University
Precision Robotics Hong Kong Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Jiao Tong University, Precision Robotics Hong Kong Ltd filed Critical Shanghai Jiao Tong University
Publication of WO2025261069A1 publication Critical patent/WO2025261069A1/zh
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots

Definitions

  • 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.
  • 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.
  • spatial positioning technology is primarily used to improve the automation and precision of production lines.
  • industrial robots need to accurately identify and grasp parts during assembly, which relies on high-precision spatial positioning technology.
  • 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.
  • Spatial positioning technology can also be applied in the field of puncture surgery, such as for the spatial positioning of puncture needles.
  • 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.
  • 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.
  • Another object of this disclosure is to provide a medical assistive robot including the aforementioned integrated micro-motion platform.
  • 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
  • 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.
  • 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.
  • 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.
  • the first actuator and the second actuator are fixedly mounted on the platform base.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the two ends of the guide rod assembly are connected by, for example, a Hooke's joint or a ball joint.
  • 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.
  • this disclosure also provides a medical assistive robot including the aforementioned integrated micro-motion platform.
  • 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.
  • MR magnetic resonance
  • Figure 1 is a schematic diagram showing the overall structure of the integrated micro-motion platform of the medical assistive robot.
  • 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.
  • 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.
  • Figures 4 and 5 show the internal structure of the integrated micro-motion platform of Embodiment 1 of this disclosure.
  • the structure of the upper half located inside the platform base is shown in solid lines.
  • the components inside the platform base are shown in their entirety to illustrate the inter-component interaction between the components.
  • 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 A-A of Figure 6(a)
  • Figure 6(c) is a second cross-sectional perspective view cut along line B-B of Figure 6(a).
  • 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)
  • Figure 7(d) is a third cross-sectional perspective view cut along line C1-C1 of Figure 7(a).
  • 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.
  • 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.
  • 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
  • Figure 11(c) is a schematic perspective view of the guide slider mechanism with a ⁇ -shaped guide slider.
  • 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).
  • 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).
  • FIG1 is a schematic diagram showing the overall structure of the integrated micro-motion platform 10 of the medical assistive robot 1.
  • 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).
  • 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.
  • the device may be an endoscope, an endoscope, or several needle electrodes used in ablation.
  • 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.
  • 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.
  • the adjustable arm 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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).
  • 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.
  • 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).
  • 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 A-A of Figure 6(a)
  • Figure 6(c) is a second cross-sectional perspective view cut along line B-B of Figure 6(a).
  • 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.
  • 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).
  • 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).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • 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).
  • 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)
  • Figure 7(d) is a third cross-sectional perspective view cut along line C1-C1 of Figure 7(a).
  • 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).
  • 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.
  • 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.
  • 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).
  • 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.
  • 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.
  • 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).
  • 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
  • Figure 9 is a schematic perspective view of the lower plane hinge mechanism 500A.
  • 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.
  • 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.
  • 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).
  • 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.
  • 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).
  • 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.
  • 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.
  • 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.
  • 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'
  • Figure 11(c) is a schematic perspective view of the guide rod mechanism 700A with a ⁇ -shaped slider 701A”.
  • 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.
  • 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).
  • 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 ⁇ -shaped as shown in FIG11(c), or of course, any other suitable shape.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • 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).
  • 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).
  • 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)
  • Figure 12(e) is a third cross-sectional perspective view cut along line B3-B3 of Figure 12(a).
  • 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).
  • 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).
  • 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.
  • either of the first guide slider through holes 202F and 402F or 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.
  • 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.
  • 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.
  • first guide slider through holes 202F, 402F and the second guide slider through holes 203F, 403F 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • conventional materials other than those mentioned above can also be used.

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Abstract

一种一体化微动平台及包括该一体化微动平台的医疗辅助机器人，整体结构设计紧凑，能最大限度地减少微动平台的外形尺寸和质量。所述一体化微动平台包括：平台座部；设置于平台座部的第一平面运动机构；分别能够致动第一平面运动机构在第一运动平面内沿X方向和Y方向移动的第一X向液压活塞和第一Y向液压活塞；设置于平台座部的第二平面运动机构；分别能够致动第二平面运动机构在第二运动平面内沿X方向和Y方向移动的第二X向液压活塞和第二Y向液压活塞；以及以穿过平行的第一运动平面和第二运动平面的方式贯穿平台座部且居中设置的导杆组件，一端通过第一铰接机构与第一平面运动机构连接，另一端通过第二铰接机构与第二平面运动机构连接。

Description

一体化微动平台及包括该一体化微动平台的医疗辅助机器人 技术领域
本公开涉及空间定位技术，更具体地涉及一体化微动平台以及包括该一体化微动平台的医疗辅助机器人。
背景技术
空间定位技术是一种用于确定物体在空间中的位置和姿态的技术。这种技术在多个领域有广泛的应用，例如制造、航空航天和医疗领域。
在制造领域，空间定位技术主要用于提高生产线的自动化和精度。例如，工业机器人在装配过程中需要准确地识别和抓取零部件，这就依赖于高精度的空间定位技术。
在航空航天领域，飞行器在发射、飞行和着陆过程中需要实时确定其位置和姿态，以确保安全和导航的精确。
在医疗领域，空间定位技术有助于提高手术精度和病人治疗效果。手术导航系统利用空间定位技术来提供实时的手术器械和患者解剖结构的三维位置，从而辅助外科医生进行高精度的微创手术。
空间定位技术也可以应用在穿刺手术领域，例如对于穿刺针的空间定位。
传统穿刺手术中，医生依靠病人的CT影像确定病灶位置，再大致确定穿刺路径并进行操作。近年来，立体定向技术帮助医生更精确地定位手术路径。例如，穿刺机器人通过末端连接的致动器使机械臂自由移动，以提高穿刺精度。然而，常规的大型执行机构不仅运动精度低，难以进行微小运动，还会干扰手术区域，影响定位和导航效果。因此，需要设计紧凑的微动平台来提升手术性能。此外，传统执行机构在核磁共振等强磁场环境中可能影响定位和导航，甚至带来安全风险，因此，需要新的微动平台需兼容不同手术环境，以扩大其应用范围。
发明内容
本公开为解决上述现有技术问题而作，其主要目的在于提供一种一体化微动平台，整体结构设计紧凑，最大限度地减少微动平台的外形尺寸和质量。
本公开的次要目的在于提供一种一体化微动平台，能减少特定手术环境对微动平台的性能影响，拓宽产品的应用途径。
本公开的又一目的在于提供一种包括前述一体化微动平台的医疗辅助机器人。
为了解决上述主要目的，本公开提供一种一体化微动平台，其特征是，包括：平台座部；第一平面运动机构，所述第一平面运动机构设置于所述平台座部；第一致动器，所述第一致动器包括第一X向液压活塞和第一Y向液压活塞，所述第一X向液压活塞和所述第一Y向液压活塞分别能够致动所述第一平面运动机构在第一运动平面内沿X方向和Y方向移动；第二平面运动机构，所述第二平面运动机构设置于所述平台座部；第二致动器，所述第二致动器包括第二X向液压活塞和第二Y向液压活塞，所述第二X向液压活塞和所述第二Y向液压活塞分别能够致动所述第二平面运动机构以独立于所述第一平面运动机构在所述第一运动平面内的移动的方式在与所述第一运动平面平行的第二运动平面内沿X方向和Y方向移动；以及导杆组件，所述导杆组件以穿过平行的所述第一运动平面和第二运动平面的方式贯穿所述平台座部且居中设置，其一端通过第一铰接机构与所述第一平面运动机构连接，另一端通过第二铰接机构与所述第二平面运动机构连接。
根据如上所述构成，第一平面运动机构和第二平面运动机构能够在第一X向液压活塞和第一Y向液压活塞以及第二X向液压活塞和第二Y向液压活塞的驱动下，相互独立地在相互平行的第一运动平面和第二运动平面中进行各自的(具有X方向和Y方向两个自由度的)移动，因此，更容易形成彼此间不易发生干涉的紧凑结构，同时使所述导杆组件以穿过平行的所述第一运动平面和第二运动平面的方式贯穿所述平台座部，由此能将导杆组件一端的两个自由度的移动与导杆组件另一端的两个自由度的移动叠加来实现导杆组件的四个自由度的运动。另外，由于导杆组件居中设置，因此，能使导杆组件的任一端部在对应的运动平面内沿四个方向的移动行程相等，无需为某个方向的移动行程过大而设置更大尺寸的致动器，不仅能使整体结构设计更加紧凑，还能最大限度地减少微动平台的外形尺寸和质量。
可选的是，所述第一致动器和所述第二致动器被固定设置于所述平台座部。
根据如上所述构成，能使用于致动平面运动机构的致动器固定设置于平台座部的内部，而无需跟随平面运动机构移动，能降低致动器与装置内的其他部件之间发生碰撞的风险，另外，相比于平面运动机构和致动器一起移动，单个平面运动机构更轻，因此，仅使单个平面运动机构在对应的运动平面内移动，能提升一体化微动平台的移动控制精度。
另外，可选的是，所述一体化微动平台还包括第一导杆机构和第二导杆机构，所述第一平面运动机构和所述第二平面运动机构分别穿套在所述第一导杆机构和所述第二导杆机构上，所述第一导杆机构和所述第二导杆机构能够分别被所述第一致动器和所述第二致动器致动，进而分别致动并引导所述第一平面运动机构和所述第二平面运动机构在各自的运动平面移动。
根据如上所述构成，能够在各个运动平面分别利用一套导杆机构，就能将致动器的致动转换并引导各个平面运动机构在各自运动平面上的移动，由此，能精准地控制一体化微动平台的移动量。
具体来说，所述第一导杆机构包括正交设置的两个第一滑杆，所述第二导杆机构包括正交设置的两个第二滑杆。进一步地，所述两个第一滑杆的两端由所述平台座部限位和导向而使所述两个第一滑杆能够在所述第一运动平面上分别沿正交方向移动，所述两个第二滑杆的两端由所述平台座部限位和导向而使所述两个第二滑杆能够在所述第二运动平面上分别沿正交方向移动。更进一步地，所述平台座部包括多个沿正交的方向开设的导向槽，正交设置的所述两个第一滑杆各自的两端以及正交设置的所述两个第二滑杆各自的两端分别穿过对应的所述导向槽，并且分别设置有用于与所述平台座部的端面的外表面抵接的滑块。
根据如上所述构成，能利用多个沿正交的方向开设的导向槽对引导正交设置的两个滑杆(第一滑杆、第二滑杆)中对应的一个沿规定方向的延伸进行引导，只需要确定导杆组件两端的每个平面运动机构在正交方向上各自的位移量，并相应地控制对应的致动器，便能准确地实现导杆组件对应的四个自由度的移动。
另外，可选的是，所述第一平面运动机构包括上平面平移部、上平面第一导向部和上平面第二导向部，所述第二平面运动机构包括下平面平移部、下平面第一导向部和下平面第二导向部，在所述上平面第一导向部和所述上平面第二导向部内分别设置有上平面导向轴套，所述两个第一滑杆分别设置在对应的上平面导向轴套中并能够相对于所述第一平面运动机构滑动，在所述下平面第一导向部和所述下平面第二导向部内分别设置有下平面导向轴套，所述两个第二滑杆分别设置在对应的下平面导向轴套中并能够相对于所述第二平面运动机构滑动。
根据如上所述构成，各个平面运动机构利用正交的两个导向部内设置的导向轴套，在平面运动机构朝一个方向运动时，对应滑杆的移动会经由套设于对应滑杆的导向轴套带动该平面运动机构进行相应地运动，而使另一根滑杆在该平面运动机构中相对于套设于另一根滑杆的导向轴套滑动。更准确地说，另一根滑杆自身不发生移动，因平面运动机构的移动，而使另一根滑杆与平面运动机构相对发生了位移。
另外，可选的是，所述第一铰接机构和所述第二铰接机构是虎克铰机构。并且进一步地，所述导杆组件的导杆主体的一端与所述第一铰接机构和第二铰接机构中的一个紧固连接，而另一端与所述第一铰接机构和第二铰接机构中的另一个滑动连接。作为一种替代，所述第一铰接机构和所述第二铰接机构是包括球铰本体、铰接球以及球铰盖体的球铰机构，作为所述第一铰接机构的球铰机构的球铰本体设置于所述第一平面运动机构，或是与所述第一平面运动机构一体成型，作为所述第二铰接机构的球铰机构的球铰本体设置于所述第二平面运动机构，或是与所述第二平面运动机构一体成型。并且，进一步地，所述导杆组件的一端与在所述球铰机构中的一个的铰接球一体形成，而另一端与所述球铰机构中的另一个的铰接球滑动连接。
根据如上所述构成，利用例如虎克铰机构或是球铰机构，对导杆组件的两端进行连接，并且在第一平面运动机构与第二平面运动机构不同步时，由于导杆组件的一端被固定连接或是被一体形成于其中一个铰接机构，而导杆组件的另一端与另一个铰接机构滑动连接，从而赋予导杆组件相对于X方向及Y方向摆动的两个自由度。
另外，本公开还提供一种包括前述一体化微动平台的医疗辅助机器人。
本公开可以采用无磁材料，例如高分子材料、铜合金、陶瓷及钛合金等满足磁共振兼容性能材料，由此，可以在磁共振(MR)环境下正常工作，且不会影响MR的正常工作性能。由此，能减少特定手术环境对微动平台的性能影响，拓宽产品的应用途径。
附图说明
图1是表示医疗辅助机器人的一体化微动平台的整体结构的示意图。
图2是从一个方向观察本公开实施例1的一体化微动平台的整体结构的示意立体图。
图3(a)和图3(b)是从另一个方向观察本公开实施例1的一体化微动平台的整体结构的示意立体图。
图4和图5示出了本公开实施例1的一体化微动平台的内部结构，其中，图4中以实线示出了位于平台座部内部的上半部分的结构，图5中整体示出了平台座部内部的组成部件，用于对各组成部件的相互间的连动进行说明。
图6(a)、图6(b)和图6(c)示出了本公开实施例1的一体化微动平台的平台座部的示意结构，其中，图6(a)是从一个方向观察的示意立体图，图6(b)是沿图6(a)的A-A线切开的第一剖面立体图，图6(c)是沿图6(a)的B-B线切开的第二剖面立体图。
图7(a)、图7(b)、图7(c)和图7(d)示出了本公开实施例1的一体化微动平台的上平面平移机构和下平面平移机构的示意结构，其中，图7(a)是从一个方向观察的示意立体图，图7(b)是沿图7(a)的A1-A1线切开的第一剖面立体图，图7(c)是沿图7(a)的B1-B1线切开的第二剖面立体图，图7(d)是沿图7(a)的C1-C1线切开的第三剖面立体图。
图8和图9分别示出了本公开实施例1的一体化微动平台的作为第一铰接机构的上平面铰接机构和作为第二铰接机构的下平面铰接机构的示意结构，其中，图8是上平面铰接机构的示意立体图，图9是下平面铰接机构的示意立体图。
图10是本公开实施例1的一体化微动平台的导杆组件的示意立体图。
图11(a)、图11(b)、图11(c)是示出了本公开实施例1的一体化微动平台的导向滑块机构的示意结构，其中，图11(a)是具有T字形的导向滑块的导向滑块机构的示意立体图，图11(b)是具有L字形的导向滑块的导向滑块机构的示意立体图，图11(c)是具有π字形的导向滑块的导向滑块机构的示意立体图。
图12(a)至图12(e)示出了上平面平移机构和下平面平移机构的变形结构，其中，图12(a)是从一个方向观察的示意立体图，图12(b)是沿图12(a)的A3-A3线切开的第一剖面立体图，图12(c)是沿图12(a)的B3-B3线切开的第二剖面立体图，图12(d)是沿图12(c)的局部放大剖面图，图12(e)是沿图12(a)的B3-B3线切开的第三剖面立体图。
图13(a)和图13(b)示出了作为第一铰接机构的上平面球铰机构与上平面球铰平移机构的连接方式，其中，图13(b)是图13(a)的A4-A4剖面立体图。
图14(a)和图14(b)示出了作为第二铰接机构的下平面球铰机构与下平面平移机构的连接方式，图14(b)是图14(a)的A5-A5剖面立体图。
具体实施方式
首先，参照图1，对本公开的医疗辅助机器人1和一体化微动平台10进行示意性地说明，其中，图1是表示医疗辅助机器人1的一体化微动平台10的整体结构的示意图。
医疗辅助机器人1包括一体化微动平台10和设置于该一体化微动平台10的导杆组件600上的器械30(参照图2)。
器械30例如是用于进行穿刺的穿刺针，也可以是用于从诸如可疑结块、肿块、感染或炎症中取回组织样本的活检针，还可以是用于药物靶向应用的注射针。此外，器械可以是内窥镜、外窥镜等，或是在消融中使用的若干针电极。更一般地，本公开的医疗辅助机器人1可以用于支持经皮介入、软组织和骨活检、直接药物注射、内漏治疗、分流替换、标记物和导丝放置等。已发现医疗辅助机器人在脑外科手术中特别有益，本公开的医疗辅助机器人1例如是脑神经介入磁共振兼容的医疗辅助机器人。
医疗辅助机器人1通过未图示的可调整臂连接到患者台或其他固定物(例如墙壁等)上，通过可调整臂，能使医疗辅助机器人1相对于患者台上的患者大幅移动，例如使医疗辅助机器人1移动到患者的正上方，或是从患者的正上方移开。另外，在利用可调整臂将医疗辅助机器人1移动至患者的正上方(例如，患者的病灶附近的上方)后，能通过一体化微动平台10进行微动，来使医疗辅助机器人1的设置于一体化微动平台10的器械30在手术的施术过程中始终准确地对准病灶位置。
如图1所示，本公开的一体化微动平台10整体地包括平台座部100、第一平面运动机构200、第一铰接机构300、第二平面运动机构400、第二铰接机构500以及导杆组件600。
一体化微动平台10采用四个致动器，全部集成在平台座部100内，两个为一组，构成一个运动平面，两个运动平面即第一平面(例如上平面)与第二平面(例如下平面)对称设置。也就是说，在平台座部100内设置有两个第一致动器110和两个第二致动器120。
第一平面运动机构200设置于平台座部100且能够被致动而在第一平面(例如上平面)内沿X方向和Y方向(具有两个自由度地)移动。第二平面运动机构400设置于平台座部100且能够被致动而在第二平面(例如下平面)内沿X方向和Y方向(具有两个自由度地)移动。第一平面运动机构200在第一平面(例如上平面)内的移动独立于第二平面运动机构400在第二平面(例如下平面)内的移动。
更具体来说，一体化微动平台10还包括能够致动第一平面运动机构200的(两个)第一致动器110和能够致动第二平面运动机构400的(两个)第二致动器120，其中，第一致动器110和第二致动器120被固定设置于平台座部100。
另外，导杆组件600以穿过平行的第一平面和第二平面的方式贯穿平台座部100设置且居中设置，其一端通过第一铰接机构300与第一平面运动机构200连接，另一端通过第二铰接机构500与第二平面运动机构400连接，由此使一体化微动平台10的导杆组件600能以相对于平台座部100具有四个自由度的方式移动(沿X方向的平移和绕X方向的摆动以及沿Y方向的平移和绕Y方向的摆动)。这样，脑神经介入磁共振兼容的医疗辅助机器人(医疗辅助机器人1)能通过控制四个致动器的行程比例，实现设置于导杆组件600上的器械的控制和复杂路径的规划，为手术医生提供了较多的策略选择和功能选择。
在本公开中，针对具有如上结构的一体化微动平台10将提供多个不同的实施例，下面将参照附图，对各个实施例的具体结构进行详细描述。另外，在针对各个实施例的描述中，对于相同或相当的部件，使用相同的作为前缀的数字部分而仅改变作为后缀的字母部分分别进行描述。
(实施例1)
首先，参照图2至图11(a)、图11(b)、图11(c)，对本公开实施例1的一体化微动平台10A进行说明。
图2和图3(a)、图3(b)示出了本公开实施例1的一体化微动平台10A的整体结构，其中，图2是从一个方向观察的示意立体图，图3(a)、图3(b)是从另一个方向观察的示意立体图。另外，图3(b)相比于图3(a)，省略了作为致动器的液压活塞的液压缸端盖及液压杆等的图示。另外，图4和图5示出了本公开实施例1的一体化微动平台10A的内部结构，其中，图4中以实线示出了位于平台座部100A内部的上半部分的结构，图5中整体示出了平台座部100A内部的组成部件，用于对各组成部件的相互间的连动进行说明。
如图2所示，本公开实施例1的一体化微动平台10A包括平台座部100A、作为第一平面运动机构200的上平面平移机构200A、作为第一铰接机构300的上平面铰接机构300A、作为第二平面运动机构400的下平面平移机构400A、作为第二铰接机构500的下平面铰接机构500A、导杆组件600A以及导杆机构700A(第一导杆机构710A和第二导杆机构720A)。第一导杆机构710A包括正交设置的两个第一滑杆(X向导向滑杆711A和Y向导向滑杆712A)，而第二导杆机构720A包括正交设置的两个第二滑杆(X向导向滑杆721A和Y向导向滑杆722A)。
图6(a)、图6(b)和图6(c)示出了本公开实施例1的一体化微动平台10A的平台座部100A的示意结构，其中，图6(a)是从一个方向观察的示意立体图，图6(b)是沿图6(a)的A-A线切开的第一剖面立体图，图6(c)是沿图6(a)的B-B线切开的第二剖面立体图。
如图4、图6(b)和图6(c)所示，在平台座部100A内设置有作为第一致动器110A的第一X向液压活塞111A和第一Y向液压活塞112A以及作为第二致动器120A的第二X向液压活塞121A和第二Y向液压活塞122A。各致动器(第一X向液压活塞111A、第一Y向液压活塞112A、第二X向液压活塞121A和第二Y向液压活塞122A)分别设置在平台座部100A内部的对应的液压孔130A中，并且能在液压的作用下相应地沿X方向或Y方向致动。
另外，如图4、图6(a)、图6(b)和图6(c)所示，在平台座部100A的与各致动器(第一X向液压活塞111A和第一Y向液压活塞112A、第二X向液压活塞121A和第二Y向液压活塞122A)的一端对应的X方向第一端面X1和Y方向第一端面Y1对应地开设有连接孔150A，并且在平台座部100A的与各致动器(第一X向液压活塞111A和第一Y向液压活塞112A、第二X向液压活塞121A和第二Y向液压活塞122A)的另一端对应的X方向第二端面X2和Y方向第二端面Y2对应地设置有液压缸端盖140A。也就是说，开设有连接孔150A的X方向第一端面X1和Y方向第一端面Y1分别与设置有液压缸端盖140A的X方向第二端面X2和Y方向第二端面Y2相对。应理解，在这里采用的作为各致动器的液压活塞相对于平台座部的安装方式以及平台座部的对应结构只是一种实例，本公开并不局限于此。
另外，如图4、图5、图6(b)所示，在第一X向液压活塞111A和第二X向液压活塞121A的一端分别设置有沿Y方向贯通的第一Y向通孔131A和第二Y向通孔141A以及从一端的端面沿X方向贯通至第一Y向通孔131A和第二Y向通孔141A的第一X向被锁紧部151A和第二X向被锁紧部161A。并且，如图4、图5所示，作为第一滑杆的X向导向滑杆711A和作为第二滑杆的X向导向滑杆721A分别穿过第一Y向通孔131A和第二Y向通孔141A，并如图4和图6(b)所示，在X方向第一端面X1上开设的两个连接孔150A处，各自通过X向锁紧部件153A、163A与第一X向液压活塞111A的第一X向被锁紧部151A和第二X向液压活塞121A的第二X向被锁紧部161A锁紧固定。由此，作为第一滑杆的X向导向滑杆711A和作为第二滑杆的X向导向滑杆721A能够分别被作为第一致动器110A的第一X向液压活塞111A和作为第二致动器120A的第二X向液压活塞121A致动。另外，如图3、图4、图6(a)和图6(c)所示，在平台座部100A的分别与第一Y向通孔131A和第二Y向通孔141A在Y向上对应的Y方向第一端面Y1和Y方向第二端面Y2上，各自设置有对应的滑块X向导向槽171A。第一导杆机构710A的X向导向滑杆711A和第二导杆机构720A的X向导向滑杆721A的两端由平台座部100(的滑块X向导向槽171A)限位和导向而使X向导向滑杆711A、721A能够在各自的运动平面(上平面及下平面)上沿X方向移动。
同样地，如图4和图6(c)所示，在第一Y向液压活塞112A和第二Y向液压活塞122A的一端分别设置有沿X方向贯通的第一X向通孔132A和第二X向通孔142A以及从一端的端面沿Y方向贯通至第一X向通孔132A和第二X向通孔142A的第一Y向被紧固部152A和第二Y向被紧固部162A。并且，如图4、图5所示，作为第一滑杆的Y向导向滑杆712A和作为第二滑杆的Y向导向滑杆722A分别穿过第一X向通孔132A和第二X向通孔142A，并如图4和图6(c)所示，在Y方向第二端面Y2上开设的两个连接孔150A处，各自通过Y向锁紧部件154A、164A与第一Y向液压活塞112A的第一Y向被锁紧部152A和第二Y向液压活塞122A的第二Y向被锁紧部162A锁紧固定。由此，作为第一滑杆的Y向导向滑杆712A和作为第二滑杆的Y向导向滑杆722A能够分别被作为第一致动器110A的第一Y向液压活塞112A和作为第二致动器120A的第二Y向液压活塞122A致动。另外，如图3、图4、图6(a)和图6(b)所示，在平台座部100A的分别与第一X向通孔132A和第二X向通孔142A在X向上对应的X方向第一端面X1和X方向第二端面X2上，各自设置有对应的滑块Y向导向槽172A。第一导杆机构710A的Y向导向滑杆712A和第二导杆机构720A的Y向导向滑杆722A的两端由平台座部100(的滑块Y向导向槽172A)限位和导向而使Y向导向滑杆712A、722A能够在各自的运动平面(上平面及下平面)上沿Y方向移动。
换言之，第一导杆机构710A的两个第一滑杆的两端由平台座部100A(的滑块X向导向槽171A和滑块Y向导向槽172A)限位和导向而使两个第一滑杆能够在第一运动平面(上平面)上分别沿正交方向移动，而第二导杆机构720A两个第二滑杆的两端由平台座部100A(的滑块X向导向槽171A和滑块Y向导向槽172A)限位和导向而使两个第二滑杆能够在第二运动平面(下平面)上分别沿正交方向移动。
图7(a)、图7(b)、图7(c)和图7(d)示出了本公开实施例1的一体化微动平台10A的上平面平移机构200A和下平面平移机构400A的示意结构，其中，图7(a)是从一个方向观察的示意立体图，图7(b)是沿图7(a)的A1-A1线切开的第一剖面立体图，图7(c)是沿图7(a)的B1-B1线切开的第二剖面立体图，图7(d)是沿图7(a)的C1-C1线切开的第三剖面立体图。
另外，在图7(a)、图7(b)、图7(c)和图7(d)中，上平面平移机构200A、下平面平移机构400A除了设置的平面位置和朝向方向不同(两者彼此呈镜像对称)之外，其他形状和结构完全相同。
如图7(a)所示，上平面平移机构200A包括上平面平移部201A、上平面第一导向部202A和上平面第二导向部203A。另外，如图7(b)、图7(c)所示，在上平面第一导向部202A和上平面第二导向部203A内分别安装有上平面导向轴套204A，两个第一滑杆(X向导向滑杆711A和Y向导向滑杆712A)分别设置在对应的上平面导向轴套204A中并能够相对于上平面平移机构200A滑动。即，上平面平移机构200A穿套在第一导杆机构710A的正交设置的两个第一滑杆上。此外，如图7(d)所示，在上平面平移部201A内设置有与下面的图8所示的上平面铰接机构300A连接的轴承安装座205A和轴承外圈压板206A。由此，第一导杆机构710A的两个第一滑杆(X向导向滑杆711A和Y向导向滑杆712A)分别能够被作为第一致动器110A的第一X向液压活塞111A和第一Y向液压活塞112A致动，进而致动并引导上平面平移机构200A在第一平面(上平面)内移动。
类似地，下平面平移机构400A也包括下平面平移部401A、下平面第一导向部402A和下平面第二导向部403A。另外，如图7(b)、图7(c)所示，在下平面第一导向部402A和下平面第二导向部403A内分别设置有下平面导向轴套404A，两个第二滑杆(X向导向滑杆721A和Y向导向滑杆722A)分别设置在对应的下平面导向轴套404A中并能够相对于下平面平移机构400A滑动。即，下平面平移机构400A穿套在第二导杆机构720A的正交设置的两个第二滑杆上。此外，如图7(d)所示，在下平面平移部401A内设置有与下面的图9所示的下平面铰接机构500A连接的轴承安装座405A和轴承外圈压板406A。由此，第二导杆机构720A的两个第二滑杆(X向导向滑杆721A和Y向导向滑杆722A)分别能够被作为第二致动器120A的第二X向液压活塞121A和第二Y向液压活塞122A致动，进而致动并引导下平面平移机构400A在第二平面(下平面)内移动。
图8和图9分别示出了本公开实施例1的一体化微动平台10A的作为第一铰接机构300的上平面铰接机构300A和作为第二铰接机构500的下平面铰接机构500A的示意结构，其中，图8是上平面铰接机构300A的示意立体图，图9是下平面铰接机构500A的示意立体图。另外，图10是本公开实施例1的一体化微动平台10A的导杆组件600A的示意立体图。
如图8所示，上平面铰接机构300A例如由上虎克铰体301A、上虎克铰旋转体302A、螺纹孔303A、轴承压板304A和轴承305A构成。上虎克铰旋转体302A安装在上虎克铰体301A内，并通过轴承压板304A进行轴向定位，而能相对旋转运动。另外，螺纹孔303A与导杆组件600A的一端(图10中的导杆主体601A的上端)固定连接，而轴承305A被安装在图7(d)所示的上平面平移机构200A(上平面平移部201A)的轴承安装座205A内。
另外，如图9所示，下平面铰接机构500A例如由下虎克铰体501A、下虎克铰旋转体502A、导向孔503A、轴承压板504A和轴承505A构成。下虎克铰旋转体502A安装在下虎克铰体501A内，并通过轴承压板504A进行轴向定位，而能相对旋转运动。另外，导向孔503A与图10所示的导杆组件600A的另一端(图10中的导杆主体601A的下端)滑动连接，而轴承505A被安装在图7(d)所示的下平面平移机构400A(下平面平移部401A)的轴承安装座405A内。
另外，在本实施例中，以导杆主体601A的一端与上平面铰接机构300A固定连接，而另一端与下平面铰接机构500A滑动连接为例进行了说明，但本公开不局限于此，只要导杆主体601A的一端与上平面铰接机构300A和下平面铰接机构500A中的一个紧固连接，而另一端与上平面铰接机构300A和下平面铰接机构500A中的另一个滑动连接即可。
导杆组件600A居中设置于一体化微动平台10A，并在导杆组件600A的末端连接有器械30，如图10所示，导杆组件600A由导杆主体601A和设置于导杆主体601A的上端的锁紧部602A构成。导杆主体601A的一端(上端)与上平面铰接机构300A的螺纹孔303A螺合后，使用锁紧部602A锁紧，导杆主体601A的另一端(下端)穿过下平面铰接机构500A的导向孔503A而能滑动连接。
图11(a)、图11(b)、图11(c)是示出了本公开实施例1的一体化微动平台10A的导杆机构700A的示意结构，其中，图11(a)是具有T字形的滑块701A的导杆机构700A的示意立体图，图11(b)是具有L字形的滑块701A’的导杆机构700A的示意立体图，图11(c)是具有π字形的滑块701A”的导杆机构700A的示意立体图。
另外，X向导向滑杆711A、721A和Y向导向滑杆712A、722A除了设置的朝向方向不同(两者分别沿彼此正交的X方向和Y方向延伸设置)之外，其他形状和结构完全相同，因此，在下面的说明中，不考虑X向、Y向的朝向方向，而仅对滑杆(第一滑杆及第二滑杆)的结构本身展开说明。
如图11(a)、图11(b)、图11(c)所示，滑杆由滑块701A、滑杆本体702A和锁紧螺钉703A构成。前面描述的多个滑块X向导向槽171A和多个滑块Y向导向槽172A构成沿正交的方向开设的导向槽，滑杆(滑杆本体702A)的两端分别穿过对应的导向槽，并且在滑杆(滑杆本体702A)的两端分别设置有滑块701A。
作为示例，滑块701A例如具有由第一导向面704A和第二导向面705A构成的阶梯部。另外，在图11(a)中，滑块701A例如呈T字形，即，具有关于滑杆702A的延伸方向对称的两个阶梯部，但本公开不局限于此，滑块701A也可以如图11(b)所示呈L字形，或是如图11(c)所示呈π字形，当然还可以其他任意合适的形状。
在构成的示例中，如图3(a)、图4和图11(a)所示，第一导向面704A与平台座部100A的端面上各自设置的对应的导向槽的导向面接触，而第二导向面705A被用锁紧螺钉703A定位固定在平台座部100A的端面的外表面处。另外，在本公开中，滑块701A不局限于具有阶梯部的示例结构，滑块701A只要能与平台座部100A的端面的外表面抵接即可。
接着，参照图4和图5的内部结构及前面描述的各部件间的连接关系，对如上构成的本公开实施例1的一体化微动平台10A的动作进行说明。
如图4、图5所示，上平面平移机构200A在第一X向液压活塞111A的驱动下，并在第一导杆机构710A的X向导向滑杆711A与分别设置于对应的Y方向第一端面Y1和Y方向第二端面Y2上的对应的滑块X向导向槽171A的约束下实现在作为第一平面的上平面内沿X方向移动，另外，在第一Y向液压活塞112A的驱动下，并在第一导杆机构710A的Y向导向滑杆712A与分别设置于对应的X方向第一端面X1和X方向第二端面X2上的对应的滑块Y向导向槽172A的约束下实现在作为第一平面的上平面内沿Y方向移动，由此，伴随着上平面平移机构200A在X方向和Y方向上具有两个自由度地运动，通过轴承305A与上平面平移机构200A连接的上平面铰接机构300A以及与上平面铰接机构300A固定连接的导杆组件600A的一端(上端)也能在作为第一平面的上平面内具有两个自由度地(即，在X方向和/或Y方向上)运动。
更具体来说，如图4、图5所示，当仅第一X向液压活塞111A沿X方向驱动上平面平移机构200A时，由于第一导杆机构710A的X向导向滑杆711A的滑杆702A穿过第一X向液压活塞111A的第一Y向通孔131A且穿过上平面平移机构200A的上平面第一导向部202A，并且第一导杆机构710A的X向导向滑杆711A的位于滑杆702A两端的滑块701A的第一导向面704A与平台座部100A的Y方向第一端面Y1和Y方向第二端面Y2上各自设置的对应的滑块X向导向槽171A的导向面接触，因此，第一导杆机构710A的X向导向滑杆711A会在滑块X向导向槽171A的导向面的约束和引导下在上平面内沿X方向移动，并带动上平面平移机构200A在上平面内沿X方向移动，此时，由于第一导杆机构710A的Y向导向滑杆712A的滑杆702A穿过第一Y向液压活塞112A的第一X向通孔132A且穿过上平面平移机构200A的上平面第二导向部203A，并且第一导杆机构710A的Y向导向滑杆712A的位于滑杆702A两端的滑块701A的第二导向面705A被用锁紧螺钉703A定位固定在平台座部100A的X方向第一端面X1和X方向第二端面X2的外表面处，因此，第一导杆机构710A的Y向导向滑杆712A相对于上平面平移机构200A在上平面第二导向部203A内滑动，更准确地说，第一导杆机构710A的Y向导向滑杆712A不动，上平面平移机构200A在上平面内沿X方向移动而不会在上平面内沿Y方向移动。同样地，当仅第一Y向液压活塞112A沿Y方向驱动上平面平移机构200A时，第一导杆机构710A的Y向导向滑杆712A会在滑块Y向导向槽172A的导向面的约束和引导下在上平面内沿Y方向移动，并带动上平面平移机构200A在上平面内沿Y方向移动，同时，第一导杆机构710A的X向导向滑杆711A相对于上平面平移机构200A在上平面第一导向部202A内滑动，更准确地说，第一导杆机构710A的X向导向滑杆711A不动，上平面平移机构200A在上平面内沿Y方向移动不会在上平面内沿X方向移动。同理，当第一X向液压活塞111A和第一Y向液压活塞112A各自沿X方向和Y方向驱动上平面平移机构200A时，上平面平移机构200A在上平面内同时沿X方向和Y方向移动。
与上平面平移机构200A类似地，如图5所示，下平面平移机构400A在第二X向液压活塞121A的驱动下，并在第二导杆机构720A的X向导向滑杆721A与分别设置于对应的Y方向第一端面Y1和Y方向第二端面Y2上的对应的滑块X向导向槽171A的约束下实现在作为第二平面的下平面内沿X方向移动，另外，在第二Y向液压活塞122A的驱动下，并在第二导杆机构720A的Y向导向滑杆722A与分别设置于对应的X方向第一端面X1和X方向第二端面X2上的对应的滑块Y向导向槽172A的约束下实现在作为第二平面的下平面内沿Y方向移动，由此，伴随着下平面平移机构400A在X方向和Y方向上具有两个自由度地运动，通过轴承505A与下平面平移机构400A连接的下平面铰接机构500A以及与下平面铰接机构500A固定连接的导杆组件600A的另一端(下端)也能在作为第二平面的下平面内具有两个自由度地(即，在X方向和/或Y方向上)运动。
更具体来说，当仅第二X向液压活塞121A沿X方向驱动下平面平移机构400A时，由于第二导杆机构720A的X向导向滑杆721A的滑杆702A穿过第二X向液压活塞121A的第二Y向通孔141A且穿过下平面平移机构400A的下平面第一导向部402A，并且第二导杆机构720A的X向导向滑杆721A的位于滑杆702A两端的滑块701A的第一导向面704A与平台座部100A的Y方向第一端面Y1和Y方向第二端面Y2上各自设置的对应的滑块X向导向槽171A的导向面接触，因此，第二导杆机构720A的X向导向滑杆721A会在滑块X向导向槽171A的导向面的约束和引导下在下平面内沿X方向移动，并带动下平面平移机构400A在下平面内沿X方向移动，此时，由于第二导杆机构720A的Y向导向滑杆722A的滑杆702A穿过第二Y向液压活塞122A的第二X向通孔142A且穿过下平面平移机构400A的下平面第二导向部403A，并且第二导杆机构720A的Y向导向滑杆722A的位于滑杆702A两端的滑块701A的第二导向面705A被用锁紧螺钉703A定位固定在平台座部100A的X方向第一端面X1和X方向第二端面X2的外表面处，因此，第二导杆机构720A的Y向导向滑杆722A相对于下平面平移机构400A在下平面第二导向部403A内滑动，更准确地说，第二导杆机构720A的Y向导向滑杆722A不动，下平面平移机构400A在上平面内沿X方向移动而不会在下平面内沿Y方向移动。同样地，当仅第二Y向液压活塞122A沿Y方向驱动下平面平移机构400A时，第二导杆机构720A的Y向导向滑杆722A会在滑块Y向导向槽172A的导向面的约束和引导下在下平面内沿Y方向移动，并带动下平面平移机构400A在下平面内沿Y方向移动，同时，第二导杆机构720A的X向导向滑杆721A相对于下平面平移机构400A在下平面第一导向部402A内滑动，更准确地说，第二导杆机构720A的X向导向滑杆721A不动，下平面平移机构400A在下平面内沿Y方向移动而不会在下平面内沿X方向移动。同理，当第二X向液压活塞121A和第二Y向液压活塞122A各自沿X方向和Y方向驱动下平面平移机构400A时，下平面平移机构400A在下平面内同时沿X方向和Y方向移动。
另外，导杆组件600A的一端(上端)在作为第一平面的上平面内的运动可以与导杆组件600A的另一端(下端)在作为第二平面的下平面内的运动同步地进行，即，导杆组件600A在第一平面和第二平面内同步地进行X方向和/或Y方向的运动，此时，能实现设置于该一体化微动平台10A的导杆组件600A上的器械30在平行于第一平面和第二平面的平面内沿X方向和/或Y方向平移，导杆组件600A不会发生绕X方向和Y方向的摆动。
此外，导杆组件600A的一端(上端)在作为第一平面的上平面内的运动也可以与导杆组件600A的另一端(下端)在作为第二平面的下平面内的运动异步地进行，即，导杆组件600A在第一平面和第二平面内异步地进行X方向和/或Y方向的运动，此时，设置于该一体化微动平台10A的导杆组件600A上的器械30不仅可能在平行于第一平面和第二平面的平面内沿X方向和/或Y方向平移，还会发生绕X方向和/或Y方向的摆动。
这样，利用本公开实施例1的一体化微动平台10A，能使设置于该一体化微动平台10A的导杆组件600A上的器械30除了具有能沿导杆组件600A的延伸方向刺入、拔出的运动自由度之外，还能提供沿X方向和/或Y方向的平移以及绕X方向和/或Y方向摆动这四个自由度的运动。
应理解，在这里采用的上平面平移机构200A、上平面铰接机构300A、下平面平移机构400A以及下平面铰接机构500A的具体结构以及他们彼此之间的连接关系和运动方式只是一种优选的实例，本公开并不局限于此。只要能够实现对相应机构的对应功能，可以使用其他的机构、部件甚至是多个机构、部件的组合进行替代。
(变形例)
在本公开实施例1中，使用图7(a)、图7(b)、图7(c)和图7(d)所示的上平面平移机构200A和下平面平移机构400A作为第一平面运动机构200和第二平面运动机构400，使用如图8所示的上平面铰接机构300A和如图9所示的下平面铰接机构500A作为第一铰接机构300和第二铰接机构500，并且使上平面铰接机构300A的轴承305A被安装在图7(d)所示的上平面平移机构200A的上平面平移部201A的轴承安装座205A内，而使下平面铰接机构500A的轴承505A被安装在图7(d)所示的下平面平移机构400A的下平面平移部401A的轴承安装座405A内，但本公开的第一平面运动机构和第二平面运动机构(上平面平移机构和下平面平移机构)、第一铰接机构和第二铰接机构各自的结构构成以及他们间的连接方式不局限于实施例1那样，也可以是图12(a)至图12(e)、图13(a)、图13(b)、图14(a)和图14(b)所示的结构构成和连接方式。
更具体来说，图12(a)至图12(e)示出了上平面平移机构和下平面平移机构(上平面球铰平移机构200F和下平面球铰平移机构400F)的变形结构，其中，图12(a)是从一个方向观察的示意立体图，图12(b)是沿图12(a)的A3-A3线切开的第一剖面立体图，图12(c)是沿图12(a)的B3-B3线切开的第二剖面立体图，图12(d)是沿图12(c)的局部放大剖面图，图12(e)是沿图12(a)的B3-B3线切开的第三剖面立体图。另外，图13(a)和图13(b)示出了作为第一铰接机构的上平面球铰机构300F与上平面球铰平移机构200F的连接方式，其中，图13(b)是图13(a)的A4-A4剖面立体图，图14(a)和图14(b)示出了作为第二铰接机构的下平面球铰机构500F与下平面球铰平移机构400F的连接方式，图14(b)是图14(a)的A5-A5剖面立体图。
如图12(a)至图12(d)所示，上平面平移机构200F和下平面球铰平移机构400F分别具有上平面球铰本体201F和下平面球铰本体401F，在上平面球铰本体201F和下平面球铰本体401F分别开设有沿第一方向(例如X方向)贯穿的第一导向滑块通孔202F、402F和沿第二方向(例如Y方向)贯穿的第二导向滑块通孔203F、403F，例如图11(a)所示的X向导向滑杆711A、721A和Y向导向滑杆712A、722A分别穿过上平面球铰本体201F和下平面球铰本体401F的沿第一方向(例如X方向)贯穿的第一导向滑块通孔202F、402F和沿第二方向(例如Y方向)贯穿的第二导向滑块通孔203F、403F。
如图12(b)所示，在第一导向滑块通孔202F、402F和第二导向滑块通孔203F、403F中的任一个(例如第二导向滑块通孔203F、403F)设置有将例如Y向导向滑杆712A、722A的滑杆702A的两端套住的平移导向轴套204F、404F，通过两个平移导向轴套204F、404F在第二导向滑块通孔203F、403F内的沿Y向的相对滑动，使得Y向导向滑杆712A、722A能在上平面球铰本体201F和下平面球铰本体401F本身不沿Y方向移动的情况下在Y方向上发生相对位移。
另外，在第一导向滑块通孔202F、402F和第二导向滑块通孔203F、403F中的另一个(例如第一导向滑块通孔202F、402F)，既可以如图12(b)所示那样同样地设置，也可以如图12(c)、图12(d)所示设置有将例如X向导向滑杆711A、721A的滑杆702A的仅一端套住的球铰机构，即，在第一导向滑块通孔202F、402F和第二导向滑块通孔203F、403F中的另一个(例如第一导向滑块通孔202F、402F)形成有与平移球铰205F、405F接触的平移球铰接触弧面206F、406F以及将平移球铰205F、405F锁定的平移球铰锁定螺丝207F、407F，由此，上平面球铰本体201F和下平面球铰本体401F(更准确来说，例如第一导向滑块通孔202F、402F)、平移球铰205F、405F和平移球铰锁定螺丝207F、407F构成了将例如X向导向滑杆711A、721A的滑杆702A的仅一端套住的球铰机构。并且，如图12(c)、图12(d)所示，平移球铰205F、405F中具有中空柱面205aF、405aF，以供X向导向滑杆711A、721A的滑杆702A穿过并能沿X方向运动。另外，通过平移球铰锁定螺丝207F、407F，能将平移球铰205F、405F(及穿过该平移球铰205F、405F的中空柱面205aF、405aF的X向导向滑杆711A、721A的滑杆702A)的沿Y方向和沿Z方向的运动限制。由此，X向导向滑杆711A、721A能在上平面球铰本体201F和下平面球铰本体401F本身不沿X方向移动的情况下在X方向上发生相对位移。
此外，如图12(d)所示，上平面球铰本体201F和下平面球铰本体401F还设置有供导杆组件600F插入的定位通道CP，在上平面球铰本体201F和下平面球铰本体401F的定位通道CP的分别位于上平面和下平面附近的部分形成有上平面球铰接触半弧面208F、下平面球铰接触半弧面408F以及上平面球铰锁紧螺纹209F、下平面球铰锁紧螺纹409F。
另外，如图13(a)、图13(b)所示，上平面球铰机构300F由上平面球铰本体201F(更准确来说，上平面球铰接触半弧面208F和上平面球铰锁紧螺纹209F)、作为上铰接球的上球铰体301F和作为上平面球铰盖体的上球铰锁紧螺丝302F构成。如图12(d)和图13(b)所示，上球铰锁紧螺丝302F的具有螺纹结构的外周面与上平面球铰锁紧螺纹209F螺合以将上球铰体301F锁在定位通道CP的上端，上球铰锁紧螺丝302F的内周面具有能和上平面球铰接触弧面208F组合而与上球铰体301F接触的半弧面303F。另外，如图13(b)所示，上球铰体301F具有能与上球铰锁紧螺丝302F的内周面(半弧面303F)和上平面球铰接触半弧面208F接触的上球铰弧面304F和供导杆组件600F的上端穿过的上球铰中空柱面305F。上平面球铰机构300F构成为使上平面球铰本体201F与作为上平面球铰盖体的上球铰锁紧螺丝302F形成容纳腔，以容纳作为上铰接球的上球铰体301F。并且容纳腔优选地形成为使上球铰体301F能在其中自由活动。
此外，如图14(a)、图14(b)所示，下平面球铰机构500F由下平面球铰本体401F(更准确来说，下平面球铰接触半弧面408F和下平面球铰锁紧螺纹409F)、作为下铰接球的下球铰体501F和作为下平面球铰盖体的下球铰锁紧螺丝502F构成。如图12(d)和图14(b)所示，下球铰锁紧螺丝502F的具有螺纹结构的外周面与下平面球铰锁紧螺纹409F螺合以将下球铰体501F锁在定位通道CP的下端，下球铰锁紧螺丝502F的内周面具有能和下平面球铰接触弧面408F组合而与下球铰体501F接触的半弧面503F。另外，如图14(b)所示，下球铰体501F具有能与下球铰锁紧螺丝502F的内周面(半弧面503F)和下平面球铰接触半弧面408F接触的下球铰弧面504F和供导杆组件600F的下端穿过的下球铰中空柱面505F。下平面球铰机构500F构成为使下平面球铰本体401F与作为下平面球铰盖体的下球铰锁紧螺丝502F形成容纳腔，以容纳作为下铰接球的下球铰体501F。并且容纳腔优选地形成为使下球铰体501F能在其中自由活动。另外，导杆组件600F的下端一体集成在下球铰体501F的下球铰中空柱面505F上，上端穿过上球铰体301F的上球铰中空柱面305F，由此能实现导杆组件600F的4自由度运动。
由上平面球铰本体201F和下平面球铰本体401F、上平面球铰机构300F和下平面球铰机构500F、X向导向滑杆711A、721A、Y向导向滑杆712A、722A、第一X向液压活塞111A和第二X向液压活塞121A以及第一Y向液压活塞112A和第二Y向液压活塞122A组成的机构，能实现与图5中的各组成部件相互间的连动实质相同的连动。
另外，在本公开中，优选采用无磁材料，例如高分子材料、铜合金、陶瓷及钛合金等满足磁共振兼容性能材料，由此，可以在MR环境下正常工作，且不会影响MR的正常工作性能。另外，也可以采用x射线穿透材料，例如高分子材料、复合材料，由此，可以在X射线环境下工作，不会影响X射线影像设备成像质量。但是，在没有MR环境、X射线环境等环境要求的情况下，也可以采用上述材料以外的常规材料。
熟悉本领域的技术人员易于想到其它的优点和修改。因此，在其更宽泛的上来说，本公开并不局限于这里所示和所描述的具体细节和代表性实施例。因此，可以在不脱离如所附权利要求书及其等价物所限定的总体发明概念的精神或范围的前提下做出修改。

Claims (12)

  1. 一种一体化微动平台，其特征在于，包括：
    平台座部；
    第一平面运动机构，所述第一平面运动机构设置于所述平台座部；
    第一致动器，所述第一致动器包括第一X向液压活塞和第一Y向液压活塞，所述第一X向液压活塞和所述第一Y向液压活塞分别能够致动所述第一平面运动机构在第一运动平面内沿X方向和Y方向移动；
    第二平面运动机构，所述第二平面运动机构设置于所述平台座部；
    第二致动器，所述第二致动器包括第二X向液压活塞和第二Y向液压活塞，所述第二X向液压活塞和所述第二Y向液压活塞分别能够致动所述第二平面运动机构以独立于所述第一平面运动机构在所述第一运动平面内的移动的方式在与所述第一运动平面平行的第二运动平面内沿X方向和Y方向移动；以及
    导杆组件，所述导杆组件以穿过平行的所述第一运动平面和第二运动平面的方式贯穿所述平台座部且居中设置，其一端通过第一铰接机构与所述第一平面运动机构连接，另一端通过第二铰接机构与所述第二平面运动机构连接。
  2. 如权利要求1所述的一体化微动平台，其特征在于，
    所述第一致动器和所述第二致动器被固定设置于所述平台座部。
  3. 如权利要求2所述的一体化微动平台，其特征在于，
    所述一体化微动平台还包括第一导杆机构和第二导杆机构，
    所述第一平面运动机构和所述第二平面运动机构分别穿套在所述第一导杆机构和所述第二导杆机构上，
    所述第一导杆机构和所述第二导杆机构能够分别被所述第一致动器和所述第二致动器致动，进而分别致动并引导所述第一平面运动机构和所述第二平面运动机构在各自的运动平面移动。
  4. 如权利要求3所述的一体化微动平台，其特征在于，
    所述第一导杆机构包括正交设置的两个第一滑杆，
    所述第二导杆机构包括正交设置的两个第二滑杆。
  5. 如权利要求4所述的一体化微动平台，其特征在于，
    所述两个第一滑杆的两端由所述平台座部限位和导向而使所述两个第一滑杆能够在所述第一运动平面上分别沿正交方向移动，
    所述两个第二滑杆的两端由所述平台座部限位和导向而使所述两个第二滑杆能够在所述第二运动平面上分别沿正交方向移动。
  6. 如权利要求5所述的一体化微动平台，其特征在于，
    所述平台座部包括多个沿正交的方向开设的导向槽，
    正交设置的所述两个第一滑杆各自的两端以及正交设置的所述两个第二滑杆各自的两端分别穿过对应的所述导向槽，并且分别设置有用于与所述平台座部的端面的外表面抵接的滑块。
  7. 如权利要求5所述的一体化微动平台，其特征在于，
    所述第一平面运动机构包括上平面平移部、上平面第一导向部和上平面第二导向部，
    所述第二平面运动机构包括下平面平移部、下平面第一导向部和下平面第二导向部，
    在所述上平面第一导向部和所述上平面第二导向部内分别设置有上平面导向轴套，所述两个第一滑杆分别设置在对应的上平面导向轴套中并能够相对于所述第一平面运动机构滑动，
    在所述下平面第一导向部和所述下平面第二导向部内分别设置有下平面导向轴套，所述两个第二滑杆分别设置在对应的下平面导向轴套中并能够相对于所述第二平面运动机构滑动。
  8. 如权利要求1所述的一体化微动平台，其特征在于，
    所述第一铰接机构和所述第二铰接机构是虎克铰机构。
  9. 如权利要求8所述的一体化微动平台，其特征在于，
    所述导杆组件的导杆主体的一端与所述第一铰接机构和第二铰接机构中的一个紧固连接，而另一端与所述第一铰接机构和第二铰接机构中的另一个滑动连接。
  10. 如权利要求1所述的一体化微动平台，其特征在于，
    所述第一铰接机构和所述第二铰接机构是包括球铰本体、铰接球以及球铰盖体的球铰机构，
    作为所述第一铰接机构的球铰机构的球铰本体设置于所述第一平面运动机构，或是与所述第一平面运动机构一体成型，
    作为所述第二铰接机构的球铰机构的球铰本体设置于所述第二平面运动机构，或是与所述第二平面运动机构一体成型，
    所述球铰机构各自构成为使所述球铰本体与所述球铰盖体形成容纳腔，以容纳所述铰接球。
  11. 如权利要求10所述的一体化微动平台，其特征在于，
    所述导杆组件的一端与所述球铰机构中的一个的铰接球一体形成，而另一端与所述球铰机构中的另一个的铰接球滑动连接。
  12. 一种包括一体化微动平台的医疗辅助机器人，其特征在于，
    所述一体化微动平台是权利要求1至11中任一项所述的一体化微动平台。
PCT/CN2025/096506 2024-06-17 2025-05-22 一体化微动平台及包括该一体化微动平台的医疗辅助机器人 Pending WO2025261069A1 (zh)

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CN101181168A (zh) * 2007-12-14 2008-05-21 北京航空航天大学 Ct导航微创外科并联机器人
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