Multi-port surgical robotic system architecture
A robotic surgery system includes an orienting platform, a manipulator, and a set-up linkage. The manipulator includes an instrument holder, a pitch linkage, and a yaw linkage. The instrument holder is operable to translate the surgical instrument along an insertion axis to insert the surgical instrument through a remote center of manipulation (RC). The pitch linkage is operable to rotate the instrument holder around a pitch axis that intersects the RC. The yaw linkage is operable to rotate the pitch linkage around a yaw axis. The set-up linkage is connected between the yaw linkage and the orienting platform. The set-up linkage is operable to reposition the manipulator relative to the orienting platform with a motion that maintains the RC in a fixed position relative to the orienting platform.
1 . A surgery system comprising:
an orienting platform;
a manipulator comprising:
a manipulator mounting base,
an instrument holder,
a pitch linkage, and
a yaw linkage,
wherein the instrument holder is configured for mounting of a surgical instrument to the instrument holder,
wherein the instrument holder is operable to translate the surgical instrument along an insertion axis to insert the surgical instrument into a patient through a remote center of manipulation (RC),
wherein the pitch linkage is operable to rotate the instrument holder relative to the manipulator mounting base around a pitch axis that intersects the RC and is transverse to the insertion axis,
wherein the yaw linkage is operable to rotate the pitch linkage relative to the manipulator mounting base around a yaw axis that is transverse to each of the insertion axis and the pitch axis; and
a set-up linkage connected between the manipulator mounting base and the orienting platform,
wherein the set-up linkage is operable to constrain the manipulator mounting base in a selected position and orientation relative to the orienting platform, and
wherein the set-up linkage comprises a set-up linkage first joint that is operable to move the manipulator mounting base, relative to the orienting platform, through a motion that maintains the RC at a fixed location relative to the orienting platform throughout the motion.
2 . The surgery system of claim 1 , wherein the set-up linkage first joint comprises a set-up linkage tornado mechanism joint operable to rotate the manipulator mounting base around a set-up linkage tornado axis that is non-parallel to the yaw axis.
3 . The surgery system of claim 2 , wherein the set-up linkage is operable to maintain the RC in the fixed location relative to the orienting platform throughout operation of the set-up linkage tornado mechanism joint to rotate the manipulator mounting base around the set-up linkage tornado axis.
4 . The surgery system of claim 3 , wherein the set-up linkage tornado axis intersects the yaw axis.
5 . The surgery system of claim 3 , wherein the yaw axis intersects the RC.
6 . The surgery system of claim 5 , further comprising:
a second manipulator comprising a second manipulator mounting base, a second instrument holder, a second pitch linkage, and a second yaw linkage, wherein the second instrument holder is configured for mounting of a second surgical instrument to the second instrument holder, wherein the second instrument holder is operable to translate the second surgical instrument along a second insertion axis to insert the second surgical instrument into the patient through a second RC, wherein the second pitch linkage is operable to rotate the second instrument holder relative to the second manipulator mounting base around a second pitch axis that intersects the second RC and is transverse to the second insertion axis, wherein the second yaw linkage is operable to rotate the second pitch linkage relative to the second manipulator mounting base around a second yaw axis that is transverse to each of the second insertion axis and the second pitch axis; and
a second set-up linkage connected between the second manipulator mounting base and the orienting platform, wherein the second set-up linkage is configured for retaining the second manipulator mounting base in a second selected position and orientation relative to the orienting platform, and wherein the second set-up linkage comprises a second set-up linkage first joint that is operable to reposition the second manipulator mounting base relative to the orienting platform with a second motion that maintains the second RC in a second fixed position relative to the orienting platform.
7 . The surgery system of claim 6 , wherein the second set-up linkage comprises a second set-up linkage tornado mechanism joint operable to rotate the second manipulator mounting base around a second set-up linkage tornado axis that is non-parallel to the second yaw axis.
8 . The surgery system of claim 7 , wherein the second set-up linkage is operable to maintain the second RC in the second fixed position relative to the orienting platform during operation of the second set-up linkage tornado mechanism joint to rotate the second manipulator mounting base around the second set-up linkage tornado axis.
9 . The surgery system of claim 8 , wherein the second yaw axis intersects the second RC.
10 . The surgery system of claim 2 , wherein:
the set-up linkage further comprises a set-up linkage first link; and
the set-up linkage first joint is operable to selectively reorient the set-up linkage first link relative to the orienting platform around a set-up linkage first axis.
11 . The surgery system of claim 10 , wherein:
the set-up linkage further comprises a set-up linkage second link and a set-up linkage second joint; and
the set-up linkage second joint is operable to selectively reposition the set-up linkage second link relative to the set-up linkage first link along a set-up linkage second axis that is horizontally oriented.
12 . The surgery system of claim 11 , wherein:
the set-up linkage further comprises a set-up linkage third link and a set-up linkage third joint; and
the set-up linkage third joint is operable to selectively reposition the set-up linkage third link relative to the set-up linkage second link along a set-up linkage third axis that is vertically oriented.
13 . The surgery system of claim 12 , wherein:
the set-up linkage further comprises a set-up linkage fourth link and a set-up linkage fourth joint;
the set-up linkage fourth joint is operable to selectively reposition the set-up linkage fourth link relative to the set-up linkage third link along a set-up linkage fourth axis that is vertically oriented; and
the manipulator is distal to and supported by the set-up linkage fourth link.
14 . The surgery system of claim 2 , wherein the set-up linkage tornado axis intersects the insertion axis.
15 . The surgery system of claim 1 , wherein the yaw axis is perpendicular to the pitch axis.
16 . The surgery system of claim 1 , further comprising:
a second manipulator comprising a second manipulator mounting base, a second instrument holder, a second pitch linkage, and a second yaw linkage, wherein the second instrument holder is configured for mounting of a second surgical instrument to the second instrument holder, wherein the second instrument holder is operable to translate the second surgical instrument along a second insertion axis to insert the second surgical instrument into the patient through a second RC, wherein the second pitch linkage is operable to rotate the second instrument holder relative to the second manipulator mounting base around a second pitch axis that intersects the second RC and is transverse to the second insertion axis, wherein the second yaw linkage is operable to rotate the second pitch linkage relative to the second manipulator mounting base around a second yaw axis that is transverse to each of the second insertion axis and the second pitch axis; and
a second set-up linkage connected between the second manipulator mounting base and the orienting platform, wherein the second set-up linkage is configured for retaining the second manipulator mounting base in a second selected position and orientation relative to the orienting platform, and wherein the second set-up linkage comprises a second set-up linkage first joint that is operable to move the second manipulator mounting base, relative to the orienting platform, through a second motion that maintains the second RC in a second fixed location relative to the orienting platform throughout the second motion.
17 . The surgery system of claim 16 , wherein the second set-up linkage comprises a second set-up linkage tornado mechanism joint operable to rotate the second manipulator mounting base around a second set-up linkage tornado axis that is non-parallel to the second yaw axis.
18 . The surgery system of claim 17 , wherein the second set-up linkage is operable to maintain the second RC in the second fixed location relative to the orienting platform throughout operation of the second set-up linkage tornado mechanism joint to rotate the second manipulator mounting base around the second set-up linkage tornado axis.
19 . The surgery system of claim 18 , wherein the second set-up linkage tornado axis intersects the second yaw axis.
20 . The surgery system of claim 17 , wherein the second set-up linkage tornado axis intersects the second insertion axis.
21 . The surgery system of claim 16 , wherein the second yaw axis is perpendicular to the second pitch axis.
22 . The surgery system of claim 21 , wherein the second yaw axis intersects the second RC.
23 . The surgery system of claim 1 , further comprising:
a mounting base; and
a support linkage via which the orienting platform is coupled with the mounting base,
wherein the support linkage is operable to reposition and reorient the orienting platform relative to the mounting base.