Dual Parallelogram Surgical Instrument Module for Precision Pitch and Roll Control

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Solution Overview

Problem

Current surgical devices with dual parallelogram mechanisms lack sufficient precision and rigidity, particularly in achieving stable and precise two-degree-of-freedom motion, which is crucial for advanced surgical procedures like robotic surgery.

Innovation Solution

A surgical device incorporating a dual parallelogram module with multiple power transmission units that enable two-degree-of-freedom pitch and roll motion, combined with a linear drive module for transmitting linear driving force, ensuring precise and stable operation of surgical instruments.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a dual parallelogram mechanism is used to achieve two-degree-of-freedom motion, then the surgical device can perform pitch and roll operations, but the precision and rigidity are insufficient

Engineering Contradiction:

Improvetwo-degree-of-freedom motion capabilityVSAvoidmotion precision

Core Design Contradiction:

Adaptability or versatilityVSManufacturing precision

Solution Approach 1:

The dual parallelogram mechanism is divided into multiple independent parallelogram linkages (first and second parallelogram linkages), each responsible for specific degrees of freedom. This segmentation allows independent optimization of each linkage for precision while maintaining overall two-DOF capability

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Multiple parallelogram linkages are merged into a unified dual parallelogram structure that simultaneously provides pitch and roll motions. The merging of these linkages with shared components (coupling shafts, links) creates a rigid integrated structure that improves overall precision

Inventive Principle:

Principle #5Merging (Combining)

2Adaptability or versatility

If a dual parallelogram mechanism is used to achieve two-degree-of-freedom motion, then the surgical device can perform pitch and roll operations, but the rigidity is insufficient

Engineering Contradiction:

Improvetwo-degree-of-freedom motion capabilityVSAvoidstructural rigidity

Core Design Contradiction:

Adaptability or versatilityVSStability of the object's composition

Solution Approach 1:

The parallelogram linkages are constructed using composite structural elements including rigid links, precision bearings, and coupling shafts that combine different material properties to achieve both flexibility for motion and rigidity for structural stability

Inventive Principle:

Principle #40Composite materials

Solution Approach 2:

Spherical joints and cylindrical coupling shafts are used at the connection points of the parallelogram linkages, providing curved surface contacts that increase contact area and improve rigidity while allowing the necessary rotational degrees of freedom

Inventive Principle:

Principle #14Spheroidality (Curvature)

Data Source

PatentEP4527337A1Surgery device and operating method using the same

Publication Date: 2025.03.26 ROEN SURGICAL INC

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AI summary

Provided is a surgical device capable of performing a stable and precise operation and an operation method using the same. The surgical device according to an embodiment of the present invention includes a surgical instrument module, a dual parallelogram module connected to a rear side of the surgical instrument module and including a plurality of power transmission units, so that each power transmission unit performs motion driving with two degrees of freedom of pitch and roll driving, and a linear drive module that is linearly driven in one direction to transmit a linear driving force to the dual parallel program module.