Double Parallelogram Surgical Linkage for Precise Pitch and Roll
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Solution Overview
Problem
Existing surgical devices with a parallelogram and motor combination for two degrees of freedom suffer from insufficient precision and rigidity, particularly in applications requiring high accuracy.
Innovation Solution
A surgical double parallelogram device comprising multiple pitch and roll module units connected by pitch link units, allowing for two degrees of freedom through prismatic movements, minimizing backlash and friction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a parallelogram and motor combination is used to achieve two degrees of freedom, then pitch rotation is realized by the parallelogram and roll rotation is performed by driving a motor, but the precision and rigidity of the corresponding degree of freedom are insufficient
Solution Approach 1:
The device is divided into multiple independent module units (first module unit, second module unit, third module unit, fourth module unit), each capable of independent pitch and roll rotation. This segmentation allows each module to maintain high precision while the overall system achieves two degrees of freedom through coordinated operation of multiple simpler units.
Solution Approach 2:
The invention transitions from a single parallelogram structure to a double parallelogram configuration by adding modules in a second direction perpendicular to the first. This dimensional expansion enables simultaneous pitch rotation (first direction) and roll rotation (second direction) while maintaining precision through the geometric constraints of parallelogram linkages in both dimensions.
2Stability of the object's composition
If a single-axis rotation system is used with parallelogram for pitch and motor for roll, then two degrees of freedom are secured, but rigidity is insufficient
Solution Approach 1:
The invention merges the advantages of parallelogram mechanisms (providing rigid geometric constraints for pitch rotation) with modular motor-driven units (providing controlled roll rotation). The multiple module units are jointly connected through pitch link units to form a double parallelogram structure that combines the rigidity of mechanical linkages with the controllability of motor-driven rotation.
Solution Approach 2:
The system dynamically coordinates the operation of multiple module units, where each unit can independently pitch-rotate and roll-rotate. The pitch link units dynamically connect these modules, allowing the system to adapt its configuration while maintaining rigid structural relationships through the parallelogram geometry during operation.
Data Source
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AI summary
The present invention relates to a surgical double parallelogram device, and to a surgical double parallelogram device in which respective pitch and roll module units form a double parallelogram while pitch- and roll-rotating. To this end, disclosed is the surgical double parallelogram device comprising: a plurality of pitch and roll module units in which each module forms a plurality of stages and which provides two degrees of freedom for each module to be capable of dependently pitch- and roll-rotating; and a plurality of pitch link units connected to the plurality of pitch and roll module units to form a double parallelogram.