MULTI-PORT SURGICAL ROBOTIC SYSTEM ARCHITECTURE
First Claim
Patent Images
1. A robotic surgery system comprising:
- an orienting platform;
a support linkage movably supporting the orienting platform;
a plurality of manipulators;
each of the manipulators including an instrument holder;
each of the manipulators being configured to support an associated surgical instrument mounted to the instrument holder, insert the associated surgical instrument along an insertion axis into a patient through an associated remote center of manipulation (RC), rotate the instrument holder around a first manipulator axis that intersects the associated RC, and rotate the instrument holder around a second manipulator axis that intersects the associated RC, each of the first and second manipulator axes being transverse to the insertion axis, the second manipulator axis being transverse to the first manipulator axis; and
a plurality of set-up linkages, each of the set-up linkages coupling one of the manipulators to the orienting platform and operable to reposition the associated manipulator relative to the orienting platform and fixedly support the associated manipulator in a selected position relative to the orienting platform, each of the set-up linkages including a proximal link coupled to the orienting platform and a distal link coupled to the associated manipulator, at least one of the set-up linkages including a reorientation mechanism that when actuated moves the distal link relative to the proximal link through a motion that maintains the associated RC in a fixed position relative to the proximal link.
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Abstract
A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.
185 Citations
18 Claims
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1. A robotic surgery system comprising:
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an orienting platform; a support linkage movably supporting the orienting platform; a plurality of manipulators;
each of the manipulators including an instrument holder;
each of the manipulators being configured to support an associated surgical instrument mounted to the instrument holder, insert the associated surgical instrument along an insertion axis into a patient through an associated remote center of manipulation (RC), rotate the instrument holder around a first manipulator axis that intersects the associated RC, and rotate the instrument holder around a second manipulator axis that intersects the associated RC, each of the first and second manipulator axes being transverse to the insertion axis, the second manipulator axis being transverse to the first manipulator axis; anda plurality of set-up linkages, each of the set-up linkages coupling one of the manipulators to the orienting platform and operable to reposition the associated manipulator relative to the orienting platform and fixedly support the associated manipulator in a selected position relative to the orienting platform, each of the set-up linkages including a proximal link coupled to the orienting platform and a distal link coupled to the associated manipulator, at least one of the set-up linkages including a reorientation mechanism that when actuated moves the distal link relative to the proximal link through a motion that maintains the associated RC in a fixed position relative to the proximal link. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A robotic surgery system comprising:
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an orienting platform; a support linkage movably supporting the orienting platform; a plurality of manipulators;
each of the manipulators movably supporting an associated surgical instrument insertable into a patient; anda plurality of set-up linkages, each of the set-up linkages coupling one of the manipulators to the orienting platform and operable to reposition the associated manipulator relative to the orienting platform and fixedly support the associated manipulator relative to the orienting platform, at least one of the set-up linkages including a first link having a first link proximal end rotationally coupled to the orienting platform through a first set-up linkage joint operable to selectively orient the first link relative to the orienting platform around a first set-up linkage axis, a second link slideably mounted to the first link through a second set-up linkage joint operable to selectively reposition the second link relative to the first link along a second set-up linkage axis that is horizontally oriented, a third link slideably mounted to the second link through a third set-up linkage joint operable to selectively reposition the third link relative to the second link along a third set-up linkage axis that is vertically oriented, and a fourth link rotationally coupled to the third link through a fourth set-up linkage joint operable to selectively orient the fourth link relative to the third link around a fourth set-up linkage axis that is vertically oriented, the associated manipulator being distal to and supported by the fourth link. - View Dependent Claims (9, 10, 11)
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12. A modular manipulator support for use in a robotic surgery system, the system comprising a plurality of manipulators that include driven links and joints for moving an associated surgical instrument, the support comprising:
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a movable floor-supported mounting base; a column slideably coupled with the mounting base and selectively positionable relative to the mounting base along a first support axis that is vertically oriented; a boom base member rotationally coupled to the column through a shoulder joint operable to selectively orient the boom base member relative to the column member around a second support axis that is vertically oriented; an extendable boom member slideably coupled with the boom base member through a boom joint operable to selectively position the extendable boom member relative to the boom base member along a third support axis that is horizontally oriented; an orienting platform rotationally coupled to the extendable boom member through a wrist joint operable to selectively orient the orienting platform relative to the extendable boom member around a fourth support axis that is vertically oriented; and a plurality of set-up linkages, each of the set-up linkages coupling one of the manipulators to the orienting platform and operable to selectively position the associated manipulator relative to the orienting platform and fixedly support the associated manipulator relative to the orienting platform. - View Dependent Claims (13, 14, 15, 16, 17, 18)
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Specification