Parallel Kinematic Handle Mechanism for Decoupled Rotational Control
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Solution Overview
Problem
Existing minimally invasive surgical tools face challenges in providing enhanced dexterity and intuitive control over multiple degrees of freedom, particularly in transmitting rotational motions effectively, due to the complexity and impracticality of serial kinematic designs, 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 enable efficient transmission of rotational degrees of freedom, facilitated by flexible and compliant elements, and optionally incorporating electromechanical or fluidic transmissions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If serial kinematic design is used to transmit rotational motions, then motion transmission is achieved, but device complexity and mechanical/electronic transmission requirements increase
Solution Approach 1:
The patent segments the rotational motion transmission by using multiple independent connectors (first connector, second connector, third connector, fourth connector) arranged in parallel, where each connector handles specific rotational degrees of freedom independently. This segmentation eliminates the need for complex serial mechanical transmissions while maintaining intuitive control over multiple rotational motions.
Solution Approach 2:
The patent transitions from serial (one-dimensional chain) to parallel (multi-dimensional) kinematic design by arranging connectors in parallel paths between the handle and frame. This dimensional change allows independent transmission of multiple rotational degrees of freedom without requiring complex sequential mechanical linkages.
2Volume of moving object
If parallel kinematic mechanisms are used, then device compactness and cost-effectiveness improve, but motion transmission paths become more complex to design
Solution Approach 1:
Each connector in the parallel mechanism is designed with multi-functionality, allowing rotation about specific axes while constraining other motions. The first and second connectors allow rotation about a first axis, while the third and fourth connectors allow rotation about a second axis, enabling a single parallel structure to handle multiple rotational degrees of freedom simultaneously.
Solution Approach 2:
The parallel connectors act as intermediaries between the handle and frame, each mediating specific rotational motions. By distributing the motion transmission function across multiple independent connectors rather than using a single complex transmission mechanism, the patent achieves compactness while simplifying individual connector design.
3Productivity
If multiple connectors are used in parallel, then rotational degrees of freedom are decoupled and transmitted efficiently, but the number of components increases
Solution Approach 1:
The patent extracts and separates the rotational motion transmission functions into distinct parallel connectors, taking out the coupling between rotational degrees of freedom. This extraction allows each connector to be optimized for its specific function, improving overall transmission efficiency despite the increased number of components.
Solution Approach 2:
The parallel connector arrangement provides dynamic advantages by allowing independent motion in multiple rotational directions simultaneously. The decoupled rotational motions enable more efficient and flexible manipulation compared to serial designs, where motions are coupled and sequential.
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.