Modular manipulator support for robotic surgery

Abstract

A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.

1 - 16 . (canceled) 
     
     
         17 . A system comprising:
 a table configured to support a patient;   a base positioned on a first axis having a first end coupled to the table and a second end coupled to the base;   a first arm support coupled to the base by at least a first joint configured to allow adjustment along the first axis relative to the table, the first arm support comprising a first bar having a proximal portion and a distal portion extending along a second axis different from the first axis; and   a first robotic arm movably mounted to the first bar, wherein the first robotic arm is configured to translate along the first bar.   
     
     
         18 . The system of  claim 17 , the first arm support comprising a platform linkage coupled to an orienting platform. 
     
     
         19 . The system of  claim 18 , the first joint comprising an arm comprising a four-bar parallelogram linkage extending between a pair of adjacent joints. 
     
     
         20 . The system of  claim 18 , the first bar comprising the platform linkage, the second axis comprising a horizontal axis of the platform linkage. 
     
     
         21 . The system of  claim 17 , wherein the first axis is a vertical axis and the first joint is further configured to allow adjustment along the first bar. 
     
     
         22 . The system of  claim 17 , wherein the first joint comprises a motorized linear joint configured to move along the first axis. 
     
     
         23 . The system of  claim 17 , further comprising a second robotic arm mounted to the first bar, the second robotic arm configured to translate along the first bar. 
     
     
         24 . The system of  claim 23 , further comprising a third robotic arm mounted to the first bar. 
     
     
         25 . The system of  claim 24 , wherein at least one of the first robotic arm, second robotic arm or third robotic arm holds a camera. 
     
     
         26 . The system of  claim 17 , wherein the first bar supports translation along a length of the table. 
     
     
         27 . A system, comprising:
 a table configured to support a patient;   a base positioned on a first axis having a first end coupled to the table and a second end coupled to the base;   a bar having a proximal portion and a distal portion extending along a second axis different from the first axis;   a first arm support coupled to the base by at least a first joint configured to allow adjustment parallel to the first axis;   a first robotic arm movably mounted to a first bar coupled to the first arm support, wherein the first robotic arm is configured to translate using the first bar;   a second arm support coupled to the base by at least a second joint configured to allow adjustment parallel to the first axis; and   a second robotic arm movably mounted to a second bar coupled to the second arm support, wherein the second robotic arm is configured to translate using the second bar;   wherein the first arm support and the second arm support are configured such that the position of the first bar and the second bar along the first axis can be adjusted independently.   
     
     
         28 . The system of  claim 27 , wherein the first axis is a vertical axis, the first joint is configured to allow adjustment of the first bar in a vertical direction, the second joint is configured to allow adjustment of the second bar in the vertical direction, and wherein the first bar and the second bar can be adjusted to different heights. 
     
     
         29 . The system of  claim 27 , wherein the first arm support is configured to be positioned on a first side of the table, and the second arm support is configured to be positioned on a second side of the table. 
     
     
         30 . The system of  claim 29 , wherein the second side is opposite the first side. 
     
     
         31 . The system of  claim 27 , wherein:
 the first arm support comprises a third joint configured to adjust a tilt angle of the first bar relative to a surface of the table; and   the second arm support comprises a fourth joint configured to adjust a tilt angle of the second bar relative to a surface of the table.   
     
     
         32 . The system of  claim 31 , wherein the tilt angle of the first bar and the tilt angle of the second bar can be adjusted independently. 
     
     
         33 . The system of  claim 27 , wherein the first and second arm supports are configured to be stored above the table. 
     
     
         34 . The system of  claim 27 , wherein one or more of the first joint and the second joint are motorized or controlled by hydraulics.