Parallel Kinematic Mechanisms for Compact Decoupled Rotation Control
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Solution Overview
Problem
Existing minimally invasive surgical tools face challenges in providing enhanced dexterity and intuitive control of multiple degrees of freedom, particularly in transmitting rotational motions effectively, due to the complexity and impracticality of serial kinematic mechanisms, which often require mechanical or electronic transmissions that increase cost, size, and complexity.
Innovation Solution
The use of parallel kinematic mechanisms with decoupled rotational motions, allowing independent paths for motion transmission between a handle and a frame, utilizing connectors that restrict certain rotations and allow others, facilitating intuitive control and reducing mechanical complexity by using independent paths and electromechanical or fluidic transmissions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If serial kinematic mechanisms are used to transmit rotational motions, then multiple degrees of freedom can be achieved, but mechanical complexity and cost increase due to required transmissions
Solution Approach 1:
The patent divides the motion transmission into multiple independent parallel paths instead of a single serial chain. Each path transmits a specific rotational degree of freedom independently, eliminating the need for complex mechanical transmissions between sequential joints. This segmentation of motion paths directly reduces mechanical complexity while maintaining multiple DoF capability.
Solution Approach 2:
The patent replaces traditional mechanical transmission systems (gears, belts, linkages) with a parallel kinematic architecture where motion is transmitted through multiple independent rigid links connected by simple connectors. This substitution eliminates complex mechanical transmissions while achieving the same functional outcome of transmitting multiple rotational motions.
2Ease of operation
If serial kinematic mechanisms are used, then rotational motions can be transmitted, but the size and cost of the device increase
Solution Approach 1:
The patent merges multiple motion transmission functions into a compact parallel architecture where multiple rigid links and connectors work simultaneously. This consolidation achieves the same rotational motion control as serial mechanisms but in a more space-efficient configuration, reducing overall device volume.
Solution Approach 2:
The patent transitions from a one-dimensional serial chain arrangement to a multi-dimensional parallel configuration. By distributing motion paths across multiple spatial dimensions and using parallel rather than sequential arrangement, the mechanism achieves compact sizing while maintaining full rotational control capability.
3Device complexity
If parallel kinematic mechanisms with decoupled rotational motions are used, then mechanical complexity is reduced, but the mechanism design becomes more specialized
Solution Approach 1:
The patent designs the parallel kinematic mechanism with universal connectors that can accommodate different types of rigid links and motion requirements. Each connector is designed to handle specific rotational degrees of freedom while being adaptable to various link configurations, allowing the same basic parallel architecture to serve multiple motion transmission functions without sacrificing versatility.
Data Source
AI summary
A parallel kinematic mechanism apparatus includes a frame, a handle and an input joint that connects having at least two independent and functionally parallel paths for transmission of motion coupling the handle to the frame. A first path includes a first intermediate body connected to the frame by a first connector and to the handle by a third connector while the second path that is independent from the first path includes a second intermediate body that is connected to the frame by a second connector and to the handle by a fourth connector. The first connector and the fourth connector both allow rotation in a first rotational direction and restrict rotation in a second rotational direction and the second and third connectors allow rotation in the second rotational direction and restrict rotation in the first rotational direction.