Modular manipulator support for robotic surgery

1. A method for preparing a robotic surgery system having a mounting base, a plurality of surgical instruments, and an articulate support assembly movably supporting the instruments relative to the base, the method comprising:

moving an orienting platform to pre-position a plurality of manipulators mounted to the orienting platform by articulating a platform linkage movably supporting the orienting platform relative to the base so that the surgical instruments supported by the manipulators are orientated towards associated minimally invasive apertures;

wherein the platform linkage comprises a linear rail, a slidable carriage coupleable to the rail, and at least one arm rotationally coupleable to the carriage on a proximal end and to the orienting platform on a distal end.

2. The method of claim 1 , wherein moving comprises translating the orienting platform in three dimensions.

3. The method of claim 1 , wherein moving comprises rotating the orienting platform about one axis.

4. The method of claim 1 , further comprising moving the plurality of manipulators by articulating a plurality of arms coupleable to the orienting platform.

5. The method of claim 1 , further comprising restraining the platform linkage, orienting platform, or arms with a brake system so as to prevent further articulation.

6. An articulate support assembly comprising:

an orienting platform comprising a bottom surface;

a plurality of set-up joint arms, each of the arms coupleable to the orienting platform through a rotatable hub attached to said bottom surface, at least one of the plurality of arms comprising a plurality of configurable linkages and joints comprising:

at least one parallelogram linkage structure for moving a distal end of the arm in a vertical direction.

7. The assembly of claim 6 , further comprising a platform linkage rotationally coupled to the orienting platform.

8. The assembly of claim 7 , at least one rotatable hub coupleable to the platform linkage at a pivot point, the orienting platform rotatable about the pivot point.

9. The assembly of claim 7 , the plurality of hubs comprising four hubs.

10. The assembly of claim 7 , the distal end of each arm coupleable to a manipulator.

11. The assembly of claim 6 , each of the plurality of arms comprising at least one parallelogram linkage structure for moving a distal end of the arm in a vertical direction.

12. The assembly of claim 6 , each parallelogram linkage structure comprising:

a proximal bracket;

a distal bracket; and

a linkage pivotally jointed to the proximal and distal brackets.

13. The assembly of claim 6 , the plurality of links and joints further comprising:

at least one linkage coupled to a rotational joint.

14. The assembly of claim 13 , the at least one linkage coupled to a rotational joint comprising an auxiliary linkage rotationally coupled to the rest of the plurality of links and joints by an auxiliary pivot.

15. The assembly of claim 13 , at least one joint being motorized.

16. The assembly of claim 6 , the at least one joint comprising a brake to lock the corresponding joint into place.

17. The assembly of claim 6 , further comprising a display coupled to the orienting platform.

18. An articulate support assembly comprising:

an orienting platform;

a plurality of set-up joint arms, each of the arms coupleable to the orienting platform through a rotatable hub, at least one of the plurality of arms comprising a plurality of configurable linkages and joints comprising:

at least one parallelogram linkage structure for moving a distal end of the arm in a vertical direction;

the assembly further comprising a platform linkage rotationally coupled to the orienting platform;

the platform linkage comprising a linear rail, a slidable carriage coupleable to the rail, and at least one arm rotationally coupleable to the carriage on a proximal end and to the orienting platform on a distal end.

19. An articulate support assembly comprising:

an orienting platform;

a plurality of set-up joint arms, each of the arms coupleable to the orienting platform through a rotatable hub, at least one of the plurality of arms comprising a plurality of configurable linkages and joints comprising:

at least one parallelogram linkage structure for moving a distal end of the arm in a vertical direction;

the assembly further comprising a platform linkage rotationally coupled to the orienting platform;

the platform linkage coupled to a mounting base, the mounting base coupled to a ceiling-height support structure.

20. An articulate support assembly comprising:

an orienting platform;

a plurality of set-up joint arms, each of the arms coupleable to the orienting platform through a rotatable hub, at least one of the plurality of arms comprising a plurality of configurable linkages and joints comprising:

at least one parallelogram linkage structure for moving a distal end of the arm in a vertical direction;

the assembly further comprising a platform linkage rotationally coupled to the orienting platform;

the distal end of each arm coupleable to a manipulator;

each manipulator comprising an offset remote center linkage for constraining spherical pivoting of an instrument about a pivot point, the instrument being insertable into the body of a patient through an aperture.

21. An articulate support assembly comprising:

an orienting platform;

a plurality of set-up joint arms, each of the arms coupleable to the orienting platform through a rotatable hub, at least one of the plurality of arms comprising a plurality of configurable linkages and joints comprising:

at least one parallelogram linkage structure for moving a distal end of the arm in a vertical direction;

the assembly further comprising a platform linkage rotationally coupled to the orienting platform;

the distal end of each arm coupleable to a manipulator;

the manipulator coupled to the distal end of each arm by a manipulator base support, the manipulator comprising a manipulator base coupled to the manipulator base support.