Minimally invasive surgical system

1. A patient side support system comprising:

a base;

a first link coupled to the base at a first rotational joint, the first rotational joint having a rotational axis around which the first rotational joint rotates;

a platform supported by the first link, the platform having a roll axis around which the platform rotates;

a plurality of surgical instruments supported by the platform, each of the plurality of surgical instruments including a body and a shaft, the body having a face configured to mate with a telemanipulation actuator, the shaft extending from the body; and

a rigid guide tube common to the plurality of surgical instruments;

wherein a first part of the shaft of each individual one of the plurality of surgical instruments extends between the body and the rigid guide tube, and a second part of the shaft of each individual one of the plurality of surgical instruments extends through the rigid guide tube;

wherein the rigid guide tube is positioned so that a remote center of motion point of the platform is located on the rigid guide tube, the remote center of motion point being adjacent a location at which the rigid guide tube is configured to enter a patient;

wherein the rotational axis of the first rotational joint extends vertically with reference to a floor of a room in which the base is located;

wherein the rotational axis of the first rotational joint is vertically aligned with and extends through the remote center of motion point; and

wherein the roll axis of the platform is aligned with and extends through the remote center of motion point.

2. The system of claim 1 :

wherein the platform is supported by a second rotational joint; and

wherein a rotational axis of the second rotational joint is substantially perpendicular to the rotational axis of the first rotational joint.

3. The system of claim 1 :

wherein a longitudinal axis is defined between a proximal end and a distal end of the rigid guide tube;

wherein the platform is supported by a prismatic joint having a translational axis substantially parallel to the longitudinal axis of the rigid guide tube; and

wherein the prismatic joint is distal to the first link.

4. The system of claim 1 , further comprising:

a plurality of telemanipulation actuators supported by the platform, wherein the plurality of telemanipulation actuators is configured to mate with and transfer actuating forces to the plurality of surgical instruments.

5. The system of claim 1 :

wherein a longitudinal axis is defined between a proximal end and a distal end of the common rigid guide tube; and

wherein each of the plurality of surgical instruments is coupled to the platform by a different prismatic joint having a translational axis substantially parallel to the longitudinal axis of the common rigid guide tube.

6. A patient side support system comprising:

a base;

a first link coupled to the base at a first rotational joint, the first rotational joint having a rotational axis around which the first rotational joint rotates;

a second link coupled to the first link at a second rotational joint;

a third link coupled to the second link at a third rotational joint; and

a platform coupled to the third link at a fourth rotational joint, the platform having a roll axis around which the platform rotates;

wherein the platform supports a plurality of surgical instruments, each of the plurality of surgical instruments including a body and a shaft, the body having a face configured to mate with a telemanipulation actuator, the shaft extending from the body, a first part of the shaft of each individual one of the plurality of surgical instruments extending between the body and a common rigid guide tube, and a second part of the shaft of each individual one of the plurality of surgical instruments extending through the common rigid guide tube;

wherein the common rigid guide tube is positioned so that a remote center of motion point of the platform is located on the common rigid guide tube, the remote center of motion point being adjacent a location at which the common rigid guide tube is configured to enter a patient;

wherein the rotational axis of the first rotational joint extends vertically with reference to a floor of a room in which the base is located; and

wherein the rotational axis of the first rotational joint is vertically aligned with and extends through the remote center of motion point wherein rotational axes of the second, third, and fourth rotational joints are substantially perpendicular to the rotational axis of the first rotational joint;

wherein the rotational axes of the second, third, and fourth rotational joints are positioned to allow the common rigid guide tube to rotate around the remote center of motion point; and

wherein the roll axis of the platform is aligned with and extends through the remote center of motion point.

7. The system of claim 6 :

wherein a longitudinal axis is defined between a proximal end and a distal end of the common rigid guide tube; and

wherein the platform is further coupled to the third link by a prismatic joint having a translational axis substantially parallel to the longitudinal axis of the common rigid guide tube.

8. The system of claim 6 :

wherein the common rigid guide tube is coupled to the platform.

9. The system of claim 6 , further comprising:

a plurality of telemanipulation actuators supported by the platform, wherein the plurality of telemanipulation actuators is configured to mate with and transfer actuating forces to the plurality of surgical instrument.

10. A method of assembling a patient side support system for surgical instruments, comprising the acts of:

coupling a first support arm link to a base at a first rotational joint, the first rotational joint having a rotational axis around which the first rotational joint rotates; and

coupling a platform to the first support arm link, the platform having a roll axis around which the platform rotates;

wherein the platform supports a plurality of surgical instruments, each of the plurality of surgical instruments including a body and a shaft, the body having a face configured to mate with a telemanipulation actuator, the shaft extending from the body, the platform supporting the plurality of surgical instruments so that a first part of the shaft of each individual one of the plurality of surgical instruments extends between the body and a common rigid guide tube, and a second part of the shaft of each individual one of the plurality of surgical instruments extends through the common rigid guide tube when the common rigid guide tube is coupled to the platform;

wherein the common rigid guide tube is positioned so that a remote center of motion point of the platform is located on the common rigid guide tube, the remote center of motion point being adjacent a location at which the common rigid guide tube enters a patient;

wherein the rotational axis of the first rotational joint extends vertically with reference to a floor of a room in which the base is located;

wherein the rotational axis of the first rotational joint is vertically aligned with and extends through the remote center of motion point; and

wherein the roll axis of the platform is aligned with and extends through the remote center of motion point.

11. The method of claim 10 :

wherein the platform is coupled to the first support arm link by a second rotational joint; and

wherein a rotational axis of the second rotational joint is substantially perpendicular to the rotational axis of the first rotational joint.

12. The method of claim 10 :

wherein a longitudinal axis is defined between a proximal end and a distal end of the common rigid guide tube;

wherein the platform is coupled to the first support arm link by a prismatic joint having a translational axis substantially parallel to the longitudinal axis of the common rigid guide tube; and

wherein the prismatic joint is distal to the first support arm link.

13. The method of claim 10 , further comprising:

configuring the support system to allow the common rigid guide tube to be removably coupled to the platform.

14. The method of claim 10 , further comprising:

assembling a plurality of telemanipulation actuators supported by the platform; and

configuring the plurality of telemanipulation actuators to mate with and transfer actuating forces to the plurality surgical instruments.

15. The method of claim 10 :

wherein a longitudinal axis is defined between a proximal end and a distal end of the common rigid guide tube; and

wherein each of the plurality of surgical instruments is coupled to the platform by a different prismatic joint having a translational axis substantially parallel to the longitudinal axis of the common rigid guide tube.

16. A method of assembling a patient side support system for surgical instruments, comprising the acts of:

coupling a first support arm link to a base at a first rotational joint, the first rotational joint having a rotational axis around which the first rotational joint rotates;

coupling a second link to the first support arm link at a second rotational joint;

coupling a third link to the second link at a third rotational joint; and

coupling a platform to the third link at a fourth rotational joint, the platform having a roll axis around which the platform rotates;

wherein the platform supports a plurality of surgical instruments, each of the plurality of surgical instruments including a body and a shaft, the body having a face configured to mate with a telemanipulation actuator, the shaft extending from the body, the platform supporting the plurality of surgical instruments so that a first part of the shaft of each individual one of the plurality of surgical instruments extends between the body and a common rigid guide tube, and a second part of the shaft of each individual one of the plurality of surgical instruments extends through the common rigid guide tube;

wherein the common rigid guide tube is positioned so that a remote center of motion point of the platform is located on the common rigid guide tube, the remote center of motion point being adjacent a location at which the common rigid guide tube enters a patient;

wherein the rotational axis of the first rotational joint extends vertically with reference to a floor of a room in which the base is located; and

wherein the rotational axis of the first rotational joint is vertically aligned with and extends through the remote center of motion point;

wherein rotational axes of the second, third, and fourth rotational joints are substantially perpendicular to the rotational axis of the first rotational joint;

wherein the rotational axes of the second, third, and fourth rotational joints are positioned to allow the common rigid guide tube to rotate around the remote center of motion point; and

wherein the roll axis of the platform is aligned with and extends through the remote center of motion point.

17. The system of claim 16 :

wherein a longitudinal axis is defined between a proximal end and a distal end of the common rigid guide tube; and

wherein the platform is further coupled to the third link by a prismatic joint having a translational axis substantially parallel to the longitudinal axis of the common rigid guide tube.

18. The method of claim 16 , further comprising:

configuring the support system to allow the common rigid guide tube to be removably coupled to the platform.

19. The method of claim 16 , further comprising:

assembling a plurality of telemanipulation actuators supported by the platform; and

configuring the plurality of telemanipulation actuators to mate with and transfer actuating forces to the plurality of surgical instruments.