Multi-port surgical robotic system architecture

Patent metadata

Field	Value
Publication number	US-10575908-B2
Application number	US-201615156231-A
Country	US
Kind code	B2
Filing date	May 16, 2016
Priority date	Jun 1, 2012
Publication date	Mar 3, 2020
Grant date	Mar 3, 2020

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.

First claim

What is claimed is:

1. A surgery system comprising:
a mounting base, a manipulator, and a support linkage coupled between the mounting base and the manipulator;
the manipulator comprising a manipulator mounting base and an instrument holder,
the instrument holder being configured for detachable mounting of a surgical instrument on the instrument holder,
the manipulator being configured to translate the instrument holder relative to the manipulator mounting base parallel to an insertion axis to insert the surgical instrument into a patient through a remote center of manipulation (RC) associated with the manipulator, rotate the instrument holder relative to the manipulator mounting base around a manipulator first axis that intersects the RC, and rotate the instrument holder relative to the manipulator mounting base around a manipulator second axis that intersects the RC,
the manipulator second axis being transverse to the manipulator first axis, and
each of the manipulator first axis and the manipulator second axis being transverse to the insertion axis; and

the support linkage coupling the manipulator mounting base to the mounting base,
the support linkage being configured to reposition the manipulator mounting base relative to the mounting base and to fixedly support the manipulator mounting base in a selected position relative to the mounting base,
the support linkage comprising a proximal link, a distal link, and a reorientation mechanism between the proximal link and the distal link,
the proximal link being coupled to the mounting base,
the distal link being coupled to the manipulator mounting base, and
the reorientation mechanism being configured to move the manipulator mounting base relative to the mounting base with a motion that maintains the RC in a fixed position relative to the mounting base.

2. The surgery system of claim 1 , wherein:
the reorientation mechanism comprises a reorientation rotational joint and a reorientation link,
the reorientation link comprises a proximal end coupled to the reorientation rotational joint and a distal end coupled to the manipulator mounting base,
actuation of the reorientation rotational joint rotates the manipulator mounting base about a reorientation axis that intersects the RC and is not aligned with either the manipulator first axis or the manipulator second axis, and
the reorientation link is configured to maintain the RC in a fixed position relative to the mounting base in response to actuation of the reorientation rotational joint.

3. The surgery system of claim 1 , wherein the manipulator is mechanically constrained to maintain a fixed position of the RC relative to the manipulator mounting base as the manipulator rotates the instrument holder around the manipulator first axis and as the manipulator rotates the instrument holder around the manipulator second axis.

4. The surgery system of claim 3 , further comprising:
a pitch linkage comprising a pitch linkage base;
wherein the manipulator is mechanically configured to move the pitch linkage base and the instrument holder relative to the manipulator mounting base through a first motion that is mechanically limited to rotation around the manipulator first axis in response to actuation of a first joint of the manipulator; and
wherein the manipulator is mechanically configured to move the instrument holder relative to the pitch linkage base through a second motion that is mechanically limited to rotation around the manipulator second axis in response to actuation of a second joint of the manipulator.

5. The surgery system of claim 1 , wherein:
the proximal link has a proximal end coupled to the mounting base through a proximal support linkage joint configured to selectively orient the manipulator mounting base relative to the mounting base around a first support linkage axis; and
the distal link has a distal end coupled to the manipulator mounting base and repositionable relative to the proximal link in at least two directions.

6. The surgery system of claim 1 , further comprising:
a second manipulator and a second support linkage coupled between the mounting base and the second manipulator;
the second manipulator comprising a second manipulator mounting base and a second instrument holder,
the second instrument holder being configured for detachable mounting of a second surgical instrument on the second instrument holder,
the second manipulator being configured to translate the second instrument holder relative to the second manipulator mounting base parallel a second insertion axis to insert the second surgical instrument into the patient through a second remote center of manipulation (second RC), rotate the second instrument holder relative to the second manipulator mounting base around a second manipulator first axis that intersects the second RC, and rotate the second instrument holder relative to the second manipulator mounting base around a second manipulator second axis that intersects the second RC,
the second manipulator second axis being transverse to the second manipulator first axis,
each of the second manipulator first axis and the second manipulator second axis being transverse to the second insertion axis; and

the second support linkage coupling the second manipulator mounting base to the mounting base,
the second support linkage being configured to reposition the second manipulator mounting base relative to the mounting base and to fixedly support the second manipulator mounting base in a selected position relative to the mounting base,
the second support linkage comprising a second proximal link, a second distal link, and a second reorientation mechanism between the second proximal link and the second distal link,
the second proximal link being coupled to the mounting base,
the second distal link being coupled to the second manipulator mounting base, and
the second reorientation mechanism being configured to move the second manipulator mounting base relative to the mounting base with a motion that maintains the second RC in a fixed position relative to the mounting base.

7. The surgery system of claim 6 , wherein:
the second reorientation mechanism comprises a second reorientation rotational joint and a second reorientation link;
the second reorientation link comprises a proximal end coupled to the second reorientation rotational joint and a distal end coupled to the second manipulator mounting base;
actuation of the second reorientation rotational joint rotates the second manipulator mounting base about a second reorientation axis that intersects the second RC and is not aligned with either the second manipulator first axis or the second manipulator second axis; and
the second reorientation link is configured to maintain the second RC in a fixed position relative to the mounting base in response to actuation of the second reorientation rotational joint.

8. The surgery system of claim 6 , wherein the second manipulator is mechanically constrained to maintain a fixed position of the second RC relative to the second manipulator mounting base as the second manipulator rotates the second instrument holder around the second manipulator first axis and as the second manipulator rotates the second instrument holder around the second manipulator second axis.

9. The surgery system of claim 8 , further comprising:
a second pitch linkage comprising a second pitch linkage base;
wherein the second manipulator is mechanically configured to move the second pitch linkage base and the second instrument holder relative to the second manipulator mounting base through a first motion that is mechanically limited to rotation around the second manipulator first axis in response to actuation

Assignees

• Intuitive Surgical Operations

Inventors

• Schena Bruce Michael
• Devengenzo Roman L
• Luke Scott
• Martin David
• Cooper Thomas G
• Brown Thomas

Classifications

• A61B34/37

  Leader-follower robots (A61B34/35 takes precedence) · CPC title

• A61B2017/00477

  Coupling (A61B2017/0046 takes precedence) · CPC title

• F16M11/2035

  in more than one direction · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B2090/506

  using a parallelogram linkage, e.g. panthograph · CPC title