Patent ID: 8535335

Claim:
A needle-coupled parallel mechanism, comprising: a fixedly positioned frame having an upper and lower surface; a main shaft arranged so as to be movable relative to the frame, the main shaft having opposing ends and the frame being disposed between the opposing ends of the main shaft; three first links, each of which has one end connected to the frame and the other end extending above the upper surface of the frame and connected to one of the opposing ends of the main shaft; three second links, each of which has one end connected to the frame and the other end extending below the lower surface of the frame and connected to the other of the opposing ends of the main shaft; and a needle linearly movably coupled to the main shaft to perform a predetermined operation on a target object, wherein each of the first links and the second links has at least three joints selected from the group consisting of a prismatic joint, a 1-axis revolute joint, a 2-axis revolute joint and a spherical joint, and the needle and the main shaft are moved with 6 degrees-of-freedom in conjunction with the operations of the first links and the second links.