Biparallelogram device for surgery

Abstract

This invention relates to a surgical double parallelogram device, and further, to a surgical double parallelogram device in which each pitch and roll module rotates to form a double parallelogram. For this purpose, it includes: multiple pitch and roll module sections forming multiple platforms and providing two degrees of freedom so that each module can be pitched and rolled from its own location; and multiple pitch linkage sections connected to the multiple pitch and roll module sections to form a double parallelogram.

Description

Technical Field

[0001] This invention relates to a surgical double parallelogram device, specifically a surgical double parallelogram device in which each pitch and roll module is subordinately pitched and rolled to form a double parallelogram. Background Technology

[0002] A parallelogram only has one degree of freedom. Therefore, to ensure two degrees of freedom, pitch and rotation are achieved using a parallelogram, driven by a motor in a single-axis rotational configuration, allowing for rolling rotation. However, the existing two-degree-of-freedom device using a parallelogram and a motor suffers from insufficient precision and rigidity in achieving these degrees of freedom. Summary of the Invention

[0003] Technical issues

[0004] This invention was created to solve the above-mentioned problems, and its purpose is to provide an invention that achieves 2-DOF and RCM (Remote Center of Motion) motion by combining the prisms with high precision, while reducing backlash and friction.

[0005] However, the various objectives of the present invention are not limited to those mentioned, and those skilled in the art will fully understand other objectives not mentioned from the following description.

[0006] Technical solution

[0007] To achieve the above objectives, the technical solution adopted by the present invention is to provide a surgical double parallelogram, which includes: multiple pitch and roll modules, each module forming multiple platforms and providing 2 degrees of freedom so that each module can pitch and roll from its own position; and multiple pitch linkages connected to the multiple pitch and roll modules to form a double parallelogram.

[0008] Preferably, the multiple pitch and roll modules are parallel to each other by a certain distance along the first direction, and are connected by multiple pitch linkages via joints.

[0009] Preferably, the plurality of pitch linkages are formed by connecting the plurality of pitch and roll modules in a second direction perpendicular to the first direction via joints.

[0010] Preferably, each of the plurality of pitch and roll module portions includes: a base link portion connected to the plurality of pitch link portions along a second direction via a joint; a roll link portion connected to the base link portion to cause each module to roll and rotate; a pitch joint portion connecting the base link portion and the plurality of pitch link portions via a joint to achieve pitch rotation, thereby causing each module to pitch and rotate; and a roll joint portion connecting the base link portion and the roll link portion via a joint to cause them to roll and rotate.

[0011] Preferably, the first and fourth base linkages are connected to multiple pitch linkages at two locations on the left and right sides via joints, and the second and third base linkages are connected to multiple pitch linkages at three locations on the left and right sides via joints.

[0012] Preferably, the first and fourth base connecting rods are arranged at the outermost corners, and the second and third base connecting rods are arranged in the space between the first and fourth base connecting rods.

[0013] Preferably, the plurality of pitch linkages include: a first, second, and third left-side pitch linkage that is connected to the plurality of base linkages in the second direction and on the left side by joints and is arranged in parallel at a certain distance; and a first, second, and third right-side pitch linkage that is connected to the plurality of base linkages in pairs in the second direction and on the right side by joints and is arranged in parallel at a certain distance.

[0014] Preferably, the plurality of pitch and roll module portions include: a first pitch and roll module portion in which the first and second left-side pitch linkage portions and the first and second right-side pitch linkage portions are each connected in pairs to the first base linkage portion via joints; a second pitch and roll module portion in which the first, second, and third left-side pitch linkage portions and the first, second, and third right-side pitch linkage portions are each connected in pairs to the second base linkage portion via joints; a third pitch and roll module portion in which the first, second, and third left-side pitch linkage portions and the first, second, and third right-side pitch linkage portions are each connected in pairs to the third base linkage portion via joints; and a fourth pitch and roll module portion in which the second and third left-side pitch linkage portions and the second and third right-side pitch linkage portions are each connected in pairs to the fourth base linkage portion via joints.

[0015] Preferably, a surgical end effector is attached to one side of the rolling link portion of the first and second pitch and roll module portions, and a drive portion is attached to the other side of the rolling link portion of the third and fourth pitch and roll module portions.

[0016] To achieve the purpose of this invention, a surgical double parallelogram device is provided, preferably comprising: a first parallelogram module portion forming a first parallelogram on one side centered on a virtual vertical axis; and a second parallelogram module portion forming a second parallelogram that contacts and is parallel to the first parallelogram.

[0017] Preferably, the first parallelogram adjacent to the surgical end effector connected to it is formed at a higher position than the second parallelogram, such that a portion overlaps to perform surgery on the inside of the eyeball.

[0018] Preferably, the first parallelogram adjacent to the surgical end effector connected to it is formed at a lower position relative to the second parallelogram, so that a portion overlaps to form a suture.

[0019] Preferably, the first and second parallelograms are formed by first, second, third, and fourth base connecting rods that are arranged parallel to each other at a certain distance along the first direction to form multiple platforms; and the connection combination of each joint connection point of the first, second, and third pitch connecting rods that are connected to the first, second, third, and fourth base connecting rods on one side along a second direction perpendicular to the first direction through joint connection.

[0020] Preferably, the first and fourth base connecting rods are arranged at the outermost corners, and the second and third base connecting rods are arranged in the space between the first and fourth base connecting rods.

[0021] Preferably, the first parallelogram module includes: first, second, and third base connecting rods connected at least two points on one side via first joints; and first and second pitch connecting rods connected to the first, second, and third base connecting rods on one side via joints along a second direction perpendicular to the first direction. The first joint connection points are connected to form the first parallelogram.

[0022] Preferably, the second parallelogram module includes: second, third, and fourth base connecting rods connected at least two points on one side via second joints; and second and third pitch connecting rods connected to the second, third, and fourth base connecting rods on one side via joints along a second direction perpendicular to the first direction. The second joint connection points are connected to form the second parallelogram.

[0023] To achieve the objectives of this invention, a surgical double parallelogram device is provided, preferably comprising: a first parallelogram module portion forming a first parallelogram on one side centered on a virtual horizontal axis; and a second parallelogram module portion forming a second parallelogram that can contact and be parallel to the first parallelogram. Therefore, surgery can be performed on the pituitary gland.

[0024] Preferably, the first parallelogram adjacent to the surgical end effector is formed at a lower position relative to the second parallelogram, such that a portion overlaps to perform surgery on the pituitary gland.

[0025] Preferably, the first and second parallelograms are formed by first, second, third, and fourth base connecting rods that are arranged parallel to each other along a certain distance to form multiple platforms; and the connection combinations of the joints of the first, second, and third pitch connecting rods, which are connected to the first, second, third, and fourth base connecting rods on one side along a second direction perpendicular to the first direction, are formed by joints. Therefore, surgery on the pituitary gland can be performed.

[0026] Preferably, the first and fourth base connecting parts are arranged at the outermost corners, and the second and third base connecting parts are arranged in the space between the first and fourth base connecting parts, so that the pituitary gland can be operated on.

[0027] Preferably, the first parallelogram module includes: first, second, and third base connecting rods connected at least two points on one side via first joints; and first and second pitch connecting rods connected to the first, second, and third base connecting rods on one side via joints along a second direction perpendicular to the first direction. Connecting the first joint points forms the first parallelogram, thus enabling pituitary surgery.

[0028] Preferably, the second parallelogram module includes: second, third, and fourth base connecting rods connected at least two points on one side via second joints; and second and third pitch connecting rods connected to the second, third, and fourth base connecting rods on one side via joints along a second direction perpendicular to the first direction. Connecting the second joint points forms a second parallelogram, thus enabling pituitary surgery.

[0029] Beneficial effects

[0030] According to the present invention as described above, its beneficial effect is that it achieves 2-DOF and RCM (Remote Center of Motion) motion by combining the prisms with high precision, while reducing backlash and friction. Attached Figure Description

[0031] The following figures attached to this specification are merely examples of preferred embodiments of the present invention. Their purpose is to help further understand the technical solution of the present invention based on the detailed description of the invention. Therefore, the scope of the present invention is not limited to the contents shown in the figures.

[0032] Figure 1 and Figure 2 This is a schematic diagram showing the double parallelogram device for intraocular surgery according to the first embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram illustrating the first embodiment of the intraocular surgical double parallelogram device of the present invention, which is positioned instead of rotating;

[0034] Figure 4 The diagram illustrates the double parallelogram device for intraocular surgery according to the first embodiment of the present invention, relative to... Figure 3 A schematic diagram of tilting and rotating backwards;

[0035] Figure 5 The diagram illustrates the double parallelogram device for intraocular surgery according to the first embodiment of the present invention, relative to... Figure 3 A schematic diagram showing the pitch and rotation forward;

[0036] Figure 6 This is a schematic diagram illustrating the double parallelogram device for intraocular surgery according to the first embodiment of the present invention, which rotates along a first rolling and rotating method.

[0037] Figure 7 This is a schematic diagram illustrating the double parallelogram device for intraocular surgery according to the first embodiment of the present invention, which rotates along a second rolling rotation direction.

[0038] Figure 8 This is a schematic diagram of the first and second parallelograms of the intraocular surgical double parallelogram device according to the first embodiment of the present invention;

[0039] Figure 9 This is a schematic diagram illustrating the state of the intraocular surgical double parallelogram device of the first embodiment of the present invention, with the drive unit and the surgical end effector combined on it.

[0040] Figure 10 This is a schematic diagram showing the double parallelogram device for suturing surgery according to the second embodiment of the present invention;

[0041] Figure 11 This is a schematic diagram showing the first and second parallelograms of the double parallelogram device for suturing surgery according to the second embodiment of the present invention;

[0042] Figure 12 This is a schematic diagram illustrating the state of the double parallelogram device for suturing surgery according to the second embodiment of the present invention, in which a drive unit and a surgical end effector are combined.

[0043] Figure 13 This is a schematic diagram showing the double parallelogram device for pituitary surgery according to the third embodiment of the present invention;

[0044] Figure 14 This is a schematic diagram showing the first and second parallelograms of the double parallelogram device for pituitary surgery according to the third embodiment of the present invention;

[0045] Figure 15 This is a schematic diagram illustrating the state of the double parallelogram device for pituitary surgery according to the third embodiment of the present invention, in which a drive unit and a surgical end effector are combined. Detailed Implementation

[0046] Preferred embodiments of the present invention are described below with reference to the accompanying drawings. However, the described embodiments are only some, not all, of the embodiments of the present invention, and do not reasonably limit the scope of the present invention as described in the claims. Furthermore, the overall structure described in these embodiments is not indispensable as a solution of the present invention. In addition, descriptions that are obvious to those skilled in the art can be omitted, and these omitted components (methods) and functions can be fully referred to without departing from the technical concept of the present invention.

[0047] (First embodiment: Double parallelogram device for intraocular surgery)

[0048] The double parallelogram device for intraocular surgery according to the first embodiment of the present invention is as follows: Figures 1 to 9 The diagram illustrates a device that, while forming a double parallelogram, controls the pitch and roll rotation driven by the drive unit 10, thereby controlling the orientation and position of the surgical end effector 20. Intraocular surgery, including retinal surgery, is used as an example. The following section will discuss... Figures 1 to 9 The first embodiment of the present invention provides a detailed description of the double parallelogram device for intraocular surgery.

[0049] according to Figure 1 and Figure 2 The double parallelogram device 100 for ocular surgery includes first, second, third, and fourth pitch and roll modules 110, 120, 130, and 140.

[0050] The first pitch and roll module 110 includes a first base link, a first roll link, a first pitch joint, and a first roll joint.

[0051] The first base connecting rod section Figure 1 and Figure 2 The reference includes a left base link 111a and a right base link 111b. The left and right sides are based on the orientation of the double parallelogram 100 used in eye surgery, and can be replaced with other terms. In addition, although the left base link 111a and the right base link 111b are separate from each other, they can also be integrated as needed.

[0052] The left base link 111a and the first and second left pitch links 151a and 151b are connected to each other at two points via joints connected by the first and second left pitch joints 113a and 113b, allowing for pitch rotation. The first and second left pitch links 151a and 151b are arranged at a certain distance apart in the horizontal direction (first direction), and are then connected to the left base link 111a via joints.

[0053] The right base link 111b and the first and second right pitch links 152a and 152b are connected to each other via joints of the first and second right pitch joints 113c and 113d, allowing for pitch rotation. The first and second right pitch links 152a and 152b are arranged at a certain distance apart in the horizontal direction and are connected to the right base link 111b via joints. Furthermore, they are connected to each other at four locations on the left and right sides via joints.

[0054] The left base connecting rod 111a and the first and second left pitch connecting rods 151a and 151b are connected by joints, and the right base connecting rod 111b and the first and second right pitch connecting rods 152a and 152b are connected by joints, which are symmetrically paired and connected.

[0055] The left and right base connecting rods 111a and 111b and the front rolling connecting rod 112a located at the front are connected to each other by the left and right front rolling joints 114a and 114b, allowing for rolling rotation. Furthermore, the left and right base connecting rods 111a and 111b and the rear rolling connecting rod 112b located at the rear are connected to each other by the left and right rear rolling joints 114c and 114d, allowing for rolling rotation.

[0056] The aforementioned first pitch and roll module 110 pitches and rotates with reference to the first and second left pitch joints 113a and 113b and the first and second right pitch joints 113c and 113d. Furthermore, the first pitch and roll module 110 rolls and rotates via the front and rear rolling links 112a and 112b and the left and right and front and rear rolling joints 114a, 114b, 114c and 114d.

[0057] The second pitch and roll module 120 includes a second base link, a second roll link, a second pitch joint, and a second roll joint.

[0058] The second base connecting rod section Figure 1 and Figure 2The base includes a left base connecting rod portion 121a and a right base connecting rod portion 121b. The left base connecting rod portion 121a and the right base connecting rod portion 121b are separate from each other, but they can also be integrated as needed.

[0059] The left base connecting rod 121a and the first, second, and third left-side pitch connecting rods 151a, 151b, and 151c are connected to each other at three points via joints connected to the first, second, and third left-side pitch joints 123a, 123b, and 123c, so as to enable pitch rotation. The first, second, and third left-side pitch connecting rods 151a, 151b, and 151c are arranged at a certain distance apart in the horizontal direction, and are then connected to the left base connecting rod 121a at three points via joints.

[0060] The right-side base connecting rod 121b and the first, second, and third right-side pitch connecting rods 152a, 152b, and 152c are connected to each other at three points via joints connected to the first, second, and third right-side pitch angle joints 123d, 123e, and 123f, enabling pitch rotation. The first, second, and third right-side pitch angle connecting rods 152a, 152b, and 152c are arranged at a certain distance apart in the horizontal direction and are connected to the right-side base connecting rod 121b at three points via joints. Furthermore, they are connected to each other at six points on the left and right sides via joints.

[0061] The left base connecting rod 121a and the first, second, and third left pitch connecting rods 151a, 151b, and 151c are connected by joints, and the right base connecting rod 121b and the first, second, and third right pitch connecting rods 152a, 152b, and 152c are connected by joints, forming a symmetrical pair connection.

[0062] The left and right base connecting rods 121a and 121b and the front rolling connecting rod 122a located at the front are connected to each other by the left and right front rolling joints 124a and 124b through joint connection, so as to enable rolling rotation. Furthermore, the left and right base connecting rods 121a and 121b and the rear rolling connecting rod 122b located at the rear are connected to each other by the left and right rear rolling joints 124c and 124d through joint connection, so as to enable rolling rotation.

[0063] The aforementioned second pitch and roll module 120 rotates in pitch with reference to the first, second, and third left-side pitch joints 123a, 123b, and 123c, and the first, second, and third right-side pitch joints 123d, 123e, and 123f. Furthermore, the second pitch and roll module 120 rotates in roll via the front and rear rolling linkages 122a and 122b, and the left, right, and front and rear rolling joints 124a, 124b, 124c, and 124d.

[0064] The third pitch and roll module 130 includes a third base link, a third roll link, a third pitch joint, and a third roll joint.

[0065] The third base connecting rod section Figure 1 and Figure 2 The base includes a left base connecting rod portion 131a and a right base connecting rod portion 131b. The left base connecting rod portion 131a and the right base connecting rod portion 131b are separate from each other, but they can also be integrated as needed.

[0066] The left base connecting rod 131a and the first, second, and third left-side pitch connecting rods 151a, 151b, and 151c are connected to each other at three points via joints connected to the first, second, and third left-side pitch joints 133a, 133b, and 133c, so as to enable pitch rotation. The first, second, and third left-side pitch connecting rods 151a, 151b, and 151c are arranged at a certain distance apart in the horizontal direction, and are then connected to the left base connecting rod 131a at three points via joints.

[0067] The right-side base connecting rod 131b and the first, second, and third right-side pitch angle connecting rods 152a, 152b, and 152c are connected to each other at three points via joints connected to the first, second, and third right-side pitch joints 133d, 133e, and 133f, enabling pitch rotation. The first, second, and third right-side pitch angle connecting rods 152a, 152b, and 152c are arranged at a certain distance apart in the horizontal direction and are connected to the right-side base connecting rod 131b at three points via joints. Furthermore, they are connected to each other at six points on the left and right sides via joints.

[0068] The left base connecting rod 131a and the first, second, and third left pitch connecting rods 151a, 151b, and 151c are connected by joints; the right base connecting rod 131b and the first, second, and third right pitch connecting rods 152a, 152b, and 152c are connected by joints in a symmetrical pair.

[0069] The left and right base connecting rods 131a and 131b and the front rolling connecting rod 132a located at the front are connected to each other by the left and right front rolling joints 134a and 134b through joint connection, so as to enable rolling rotation. Furthermore, the left and right base connecting rods 131a and 131b and the rear rolling connecting rod 132b located at the rear are connected to each other by the left and right rear rolling joints 134c and 134d through joint connection, so as to enable rolling rotation.

[0070] The aforementioned third pitch and roll module 130 rotates in pitch with reference to the first, second, and third left-side pitch joints 133a, 133b, and 133c, and the first, second, and third right-side pitch joints 133d, 133e, and 133f. Furthermore, the second pitch and roll module 120 rotates in roll via the front and rear rolling links 132a and 132b, and the left, right, and front and rear rolling joints 134a, 134b, 134c, and 134d.

[0071] The fourth pitch and roll angle module 140 includes a fourth base link, a fourth roll link, a fourth pitch joint, and a fourth roll joint.

[0072] The fourth base connecting rod section is Figure 1 and Figure 2 The base includes a left base connecting rod portion 141a and a right base connecting rod portion 141b. The left base connecting rod portion 141a and the right base connecting rod portion 141b are separate from each other, but they can also be integrated as needed.

[0073] The left base connecting rod 141a and the first and second left pitch connecting rods 151a and 151b are connected to each other at two points via joints 143a and 143b, so as to enable pitch rotation. The first and second left pitch connecting rods 151a and 151b are arranged at a certain distance apart in the horizontal direction, and are then connected to the left base connecting rod 141a via joints.

[0074] The right base link 141b and the first and second right pitch links 152a and 152b are connected to each other via joints 143c and 143d to allow for pitch angle rotation. The first and second right pitch links 152a and 152b are arranged horizontally at a certain distance from each other and are connected to the right base link 141b via joints. Furthermore, they are connected to each other at four locations on the left and right sides via joints.

[0075] The left base connecting rod 141a and the first and second left pitch connecting rods 151a and 151b are connected by joints; the right base connecting rod 141b and the first and second right pitch connecting rods 152a and 152b are connected by joints in a symmetrical pair.

[0076] The left and right base connecting rods 141a and 141b and the front rolling connecting rod 142a located at the front are connected to each other by the left and right front rolling joints 144a and 144b through joint connection, so as to enable rolling rotation. Furthermore, the left and right base connecting rods 141a and 141b and the rear rolling connecting rod 142b located at the rear are connected to each other by the left and right rear rolling joints 144c and 144d through joint connection, so as to enable rolling rotation.

[0077] The aforementioned fourth pitch and roll module 140 pitches and rotates with reference to the first and second left-side pitch joints 143a and 143b and the first and second right-side pitch joints 143c and 143d. Furthermore, the fourth pitch and roll module 140 rolls and rotates via the front and rear rolling linkages 142a and 142b and the left, right, and front and rear rolling joints 144a, 144b, 144c, and 144d.

[0078] The first pitch and roll module 110 is... Figure 1 and Figure 2 The first, second, third, and fourth pitch and roll modules 120, 130, and 140 are arranged in a platform shape, with the first, second, and third left-side pitch linkages 151a, 151b, and 151c connecting the left sides of the first, second, third, and fourth pitch and roll modules 110, 120, 130, and 140 vertically via joints. The first, second, and third right-side pitch linkages 152a, 152b, and 152c connect the right sides of the first, second, third, and fourth pitch and roll modules 110, 120, 130, and 140 vertically via joints.

[0079] The first, second, and third left pitch linkages 151a, 151b, and 151c and the first, second, and third right pitch linkages 152a, 152b, and 152c are symmetrically paired with the first, second, third, and fourth pitch and roll angle modules 110, 120, 130, and 140 and are connected by joints.

[0080] The joint connection points of the first and second left-side pitch joints 113a and 113b; the first, second, and third left-side pitch joints 123a, 123b, and 123c; the first, second, and third left-side pitch joints 133a, 133b, and 133c; and the first and second left-side pitch joints 143a and 143b are connected by... Figure 1 and Figure 2 When connecting along the vertical direction (second direction) using the reference line, the three virtual vertical lines are formed parallel to each other, each separated by a certain distance. The same principle applies to the right side, where the three virtual vertical lines are also formed parallel to each other, each separated by a certain distance.

[0081] In addition, the joint connections of the first and second left-side pitch joints 113a and 113b; the first, second, and third left-side pitch joints 123a, 123b, and 123c; the first, second, and third left-side pitch joints 133a, 133b, and 133c; and the first and second left-side pitch joints 143a and 143b are as follows: Figure 1 and Figure 2 When connecting along the horizontal direction using the reference line, the four virtual horizontal lines are formed parallel to each other, each separated by a certain distance. The same principle applies to the right side, where the four virtual horizontal lines are also formed parallel to each other, each separated by a certain distance.

[0082] Furthermore, the first and fourth pitch and roll module units 110 and 140 are connected at two points along the horizontal direction via joints. The two-point joint connection between the first pitch and roll module unit 110 and the fourth pitch and roll module unit 140 is such that a certain joint connection point meets on a virtual vertical line and is then staggered. Moreover, the second and third pitch and roll module units 120 and 130 are connected at three points along the horizontal direction via joints. When connecting the joint connection points along the horizontal and vertical directions, a [structure / structure] can be formed... Figure 8 The double parallelogram shown in the diagram will be explained later.

[0083] Figure 3 The double parallelogram 100 used in eye surgery shown in the diagram is a schematic diagram without pitch rotation. Here, when the first pitch drive signal is transmitted through the drive unit 10, as... Figure 4 As shown, when the pitch rotation is performed backward with a reference point, and the second pitch drive signal is transmitted, as follows: Figure 5 As shown, the object is tilted and rotated forward with a reference point.

[0084] Figure 6 The double parallelogram portion 100 for ocular surgery shown in the diagram is in the state of rolling in the first rolling rotation direction. When rolling in the first rolling rotation direction, the left base connecting parts 111a, 121a, 131a, and 141a are in a relatively lower position than the right base connecting parts 111b, 121b, 131b, and 141b. Figure 7 The double parallelogram portion 100 for ocular surgery shown in the diagram is in the state of rolling in the second rolling rotation direction. When rolling in the second rolling rotation direction, the left base connecting parts 111a, 121a, 131a, and 141a are in a relatively higher position than the right base connecting parts 111b, 121b, 131b, and 141b.

[0085] like Figure 8As shown, the joint connection points of the first and second left-side pitch joints 113a and 113b; the first, second, and third left-side pitch joints 123a, 123b, and 123c; the first, second, and third left-side pitch joints 133a, 133b, and 133c; and the first and second left-side pitch joints 143a and 143b are connected by... Figure 8 When connected along the horizontal and vertical directions using a virtual vertical line as a reference, a virtual first parallelogram 31 and a virtual second parallelogram 32 can be formed. The first parallelogram 31 and the second parallelogram 32 are formed on the left and right sides, respectively, using the virtual vertical line as a reference. The first parallelogram 31 is located on the upper side compared to the second parallelogram 32.

[0086] The first parallelogram 31 is formed by connecting the joint points of the first and second left-side pitch joints 113a and 113b, the first and second left-side pitch joints 123a and 123b, and the first and second left-side pitch joints 133a and 133b to form a rectangular or square shape. The second parallelogram 32 is formed by connecting the joint points of the second and third left-side pitch joints 123b and 123c, the second and third left-side pitch joints 133b and 133c, and the first and second left-side pitch joints 143a and 143b to form a rectangular or square shape. The first parallelogram 31 and the second parallelogram 32 are formed by sharing a portion of overlapping joints to connect with each other.

[0087] On the first and second front rolling link portions 112a and 122a and the front rolling joint portions 114a and 124a located on the side close to the first parallelogram 31, as shown in the figure Figure 8 and Figure 9 The surgical end effector 20 is shown, and a drive unit 10 is attached to the first and second rear rolling link portions 132b and 142b and the rear rolling joint portions 134c and 144c located on the side close to the second parallelogram 32.

[0088] according to Figures 4 to 7 The modules that make up each platform are subordinate to each other based on control drive signals, thereby causing pitch or roll rotation. Furthermore, during pitch rotation, the relevant modules of each platform are subordinate to each other, thereby causing pitch rotation; during roll rotation, the relevant modules of each platform are subordinate to each other, thereby causing roll rotation.

[0089] (Second embodiment: Double parallelogram device for suturing surgery)

[0090] The double parallelogram device for suturing surgery in the second embodiment 2 of the present invention is as follows: Figures 10 to 12As shown, this device forms a double parallelogram while simultaneously controlling the pitch and roll rotation via the drive unit 10, thereby controlling the orientation and position of the surgical end effector 20. Taking suturing surgery as an example, this includes vascular and nerve anastomosis surgeries. The following is based on the appendix... Figures 10 to 12 The second embodiment of the present invention describes in detail the double parallelogram device for suturing surgery.

[0091] according to Figures 1 to 10 The double parallelogram portion 200 for suturing surgery is configured to allow the double parallelogram portion 100 for intraocular surgery to rotate 180 degrees. Therefore, the structure and function of each part are replaced by the description of the first embodiment.

[0092] In addition, such as Figure 11 As shown in the diagram, the joint connection points of the first and second left-side pitch joints 213a and 213b; the first, second, and third left-side pitch joints 223a, 223b, and 223c; the first, second, and third left-side pitch joints 233a, 233b, and 233c; and the first and second left-side pitch joints 243a and 243b are connected by... Figure 11 Based on the reference line, when connected along the horizontal and vertical directions, virtual first parallelogram 41 and second parallelogram 42 can be formed. First parallelogram 41 and second parallelogram 42 are formed on the left and right sides with the virtual vertical line as the reference. First parallelogram 41 is located below second parallelogram 42.

[0093] The first parallelogram 41 is formed by connecting the joint points of the first and second left-side pitch joints 213a and 213b, the first and second left-side pitch joints 223a and 223b, and the first and second left-side pitch joints 233a and 233b to form a rectangular or square shape. The second parallelogram 42 is formed by connecting the joint points of the second and third left-side pitch joints 223b and 223c, the second and third left-side pitch joints 233b and 233c, and the first and second left-side pitch joints 243a and 243b to form a rectangular or square shape. The first parallelogram 41 and the second parallelogram 42 are formed by sharing a portion of overlapping joints.

[0094] On the first and second front rolling link portions 212a, 222a and the front rolling joint portions 214a, 214b, 224a, 224b located on the side close to the first parallelogram 41, as shown in the figure Figure 11 and Figure 12The surgical end effector 20 is shown, and a drive unit 10 is attached to the first and second rear rolling link portions 232b, 242b and the rear rolling joint portions 234c, 234d, 244c, 244d located on the side close to the second parallelogram 42.

[0095] (Third embodiment: Double parallelogram device for pituitary surgery)

[0096] The double parallelogram device for pituitary surgery in the third embodiment of the present invention is as follows: Figures 13 to 15 As shown, this device forms a double parallelogram while simultaneously controlling the pitch and roll rotation via the drive unit 10, thereby controlling the orientation and position of the surgical end effector 20. Taking pituitary surgery as an example, this includes nose and brain surgeries. The following is based on the appendix... Figures 12 to 15 The third embodiment of the present invention describes a double parallelogram device for pituitary surgery.

[0097] according to Figures 1 to 13 The double parallelogram portion 300 for pituitary surgery is configured to allow the double parallelogram portion 100 for intraocular surgery to rotate. Therefore, the structure and function of each part are replaced by the description of the first embodiment.

[0098] like Figure 14 As shown in the diagram, the joint connections of the first and second left-side pitch joints 313a and 313b; the first, second, and third left-side pitch joints 323a, 323b, and 323c; the first, second, and third left-side pitch joints 333a, 333b, and 333c; and the first and second left-side pitch joints 343a and 343b are... Figure 14 Based on the horizontal line, when connected along the horizontal and vertical directions, virtual first parallelogram 51 and second parallelogram 52 can be formed. First parallelogram 51 and second parallelogram 52 are formed on the upper and lower sides, respectively, with the virtual horizontal line as the reference. First parallelogram 51 is located on the lower side compared to second parallelogram 52.

[0099] The first parallelogram 51 is formed by connecting the joint points of the first and second left-side pitch joints 313a and 313b; the first and second left-side pitch joints 323a and 223b; and the first and second left-side pitch joints 333a and 233b to form a "rectangular shape" or a "square shape". The second parallelogram 52 is formed by connecting the joint points of the second and third left-side pitch joints 323b and 323c; the second and third left-side pitch joints 333b and 333c; and the first and second left-side pitch joints 343a and 343b to form a "rectangular shape" or a "square shape". The first parallelogram 51 and the second parallelogram 52 are formed by connecting them together by sharing a portion of overlapping joints.

[0100] On the first and second front rolling link portions 312a, 322a and the front rolling joint portions 314a, 314b, 324a, 324b located on the side close to the first parallelogram 51, as shown in the image. Figure 11 and Figure 12 The surgical end effector 20 is shown, and a drive unit 10 is attached to the first and second rear rolling link portions 332b, 342b and the rear rolling joint portions 334c, 334d, 344c, 344d located on the side close to the second parallelogram 52.

[0101] In describing this invention, details that are obvious to those skilled in the art can be omitted, and the descriptions of these omitted components (methods) and functions can be fully referenced without departing from the scope of the technical concept of this invention. The above-described elements of this invention are merely for the convenience of explanation; those skilled in the art can make additions, but this does not cause the essence of the corresponding technical solutions to depart from the scope of the technical solutions described in the embodiments of this invention.

[0102] The above descriptions of the structure and function of each part are provided separately for ease of explanation. However, depending on the requirements, a certain structure and function can be combined with other constituent elements or further subdivided.

[0103] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify and apply the technical solutions described in the foregoing embodiments, and these modifications do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions described in the embodiments of the present invention. Moreover, it should be noted that when describing the present invention, if the specific description of the relevant well-known functions and their structures or the specific description of the combination relationship between the various structures of the present invention makes the key points of the present invention unclear, such description will be omitted.

Claims

1. A surgical dual parallelogram device, Its features are, include: Multiple platforms are formed, and multiple pitch and roll modules with 2 degrees of freedom are provided so that each module of the multiple platforms can pitch and roll. Multiple pitch linkages are connected and linked with the multiple pitch and roll module units to form a double parallelogram. The plurality of pitch and roll modules are parallel and separated by a certain distance along a first direction, and are connected by a joint through the plurality of pitch linkages; The plurality of pitch linkages are formed by connecting the plurality of pitch and roll modules in a second direction perpendicular to the first direction via joints. Each of the plurality of pitch and roll module units includes: a base link unit connected to the plurality of pitch link units in the second direction via a joint; a roll link unit connected to and rotating with the base link unit; a pitch joint unit that connects and rotates the base link unit and the plurality of pitch link units via a joint; and a roll joint unit that connects the base link unit and the roll link unit via a joint, thereby enabling them to rotate. The first and fourth base linkages are connected to the plurality of pitch linkages at two locations on the left and right sides via joints, and the second and third base linkages are connected to the plurality of pitch linkages at three locations on the left and right sides via joints.

2. The surgical double parallelogram device according to claim 1, characterized in that, The first and fourth base connecting rods are respectively arranged at the outermost corners, and the second and third base connecting rods are respectively arranged in the space between the first and fourth base connecting rods.

3. The surgical double parallelogram device according to claim 2, characterized in that, The plurality of pitch linkages include: a first, second, and third left-side pitch linkage that is connected to the plurality of base linkages in the second direction and on the left side by joints and is arranged in parallel at a certain distance; and a first, second, and third right-side pitch linkage that is connected to the plurality of base linkages in pairs in the second direction and on the right side by joints and is arranged in parallel at a certain distance.

4. The surgical double parallelogram device according to claim 3, characterized in that, The plurality of pitch and roll module units include: a first pitch and roll module unit in which the first and second left-side pitch linkage units and the first and second right-side pitch linkage units are respectively connected in pairs to the first base linkage unit via joints; a second pitch and roll module unit in which the first, second, and third left-side pitch linkage units and the first, second, and third right-side pitch linkage units are respectively connected in pairs to the second base linkage unit via joints; a third pitch and roll module unit in which the first, second, and third left-side pitch linkage units and the first, second, and third right-side pitch linkage units are respectively connected in pairs to the third base linkage unit via joints; and a fourth pitch and roll module unit in which the second and third left-side pitch linkage units and the second and third right-side pitch linkage units are respectively connected in pairs to the fourth base linkage unit via joints.

5. The surgical double parallelogram device according to claim 4, characterized in that, Surgical end effectors are attached to one side of the rolling link of the first and second pitch and roll modules, and a drive unit is attached to the other side of the rolling link of the third and fourth pitch and roll modules.

6. The surgical double parallelogram device according to claim 1, characterized in that, The modules of the multiple platforms are mutually dependent in their pitch and roll rotation.

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