Surgical double parallelogram device

A surgical double parallelogram device characterized by comprising:

• a plurality of pitch and roll module units forming a plurality of stages and providing two degrees of freedom for each module to dependently pitch-rotate and roll-rotate;
• and
• a plurality of pitch link units connected to the plurality of pitch and roll module units to form a double parallelogram,
• wherein:
• the plurality of pitch and roll module units are jointly connected to each other by the plurality of pitch link units while being spaced a predetermined distance in parallel from each other in a first direction;
• the plurality of pitch link units jointly connect the plurality of pitch and roll module units in a second direction perpendicular to the first direction;
• the plurality of pitch and roll module units comprise a first pitch and roll module unit, a second pitch and roll module unit, a third pitch and roll module unit, and a fourth pitch and roll module unit sequentially arranged in stages;
• the first pitch and roll module unit comprises a first base link unit, the second pitch and roll module unit comprises a second base link unit, the third pitch and roll module unit comprises a third base link unit, and the fourth pitch and roll module unit comprises a fourth base link unit, each of the first, second, third, and fourth base link units being jointly connected to the plurality of pitch link units in the second direction;
• each of the first, second, third, and fourth base link units comprises a left base link unit and a right base link unit;
• each of the first, second, third, and fourth pitch and roll module units further comprises:
• a roll link unit connected to the respective base link unit to roll-rotate;
• a pitch joint unit configured to jointly connect the respective base link unit and the plurality of pitch link units so that each of the respective base link unit and the plurality of pitch link units pitch-rotates;
• and
• a roll joint unit configured to jointly connect the respective base link unit and the roll link unit so that each of the respective base link unit and the roll link unit roll-rotates;
• wherein:
• for each of the first and fourth base link units, the left base link unit thereof is jointly connected to the plurality of pitch link units at two points, and the right base link unit thereof is jointly connected to the plurality of pitch link units at two points;
• and
• for each of the second and third base link units, the left base link unit thereof is jointly connected to the plurality of pitch link units at three points, and the right base link unit thereof is jointly connected to the plurality of pitch link units at three points;
• and
• wherein the first and fourth base link units are disposed at respective opposite outermost positions among the first, second, third, and fourth base link units along the first direction, and the second and third base link units are disposed between the first and fourth base link units along the first direction.