Multi-port surgical robotic system architecture

Patent metadata

Field	Value
Publication number	US-12575898-B2
Application number	US-202217678894-A
Country	US
Kind code	B2
Filing date	Feb 23, 2022
Priority date	Jun 1, 2012
Publication date	Mar 17, 2026
Grant date	Mar 17, 2026

Abstract

A robotic surgery system includes an orienting platform, a first manipulator, a second manipulator supported by the orienting platform, and a first set-up linkage by which the first manipulator is coupled to and supported by the orienting platform. The first manipulator includes a first instrument holder configured to support a first surgical instrument. The first manipulator is operable to insert and manipulate the first surgical instrument. The second manipulator includes a second instrument holder configured to support a second surgical instrument. The second manipulator is operable to insert and manipulate the second surgical instrument. The first set-up linkage is operable to selectively reposition the first manipulator relative to the orienting platform.

First claim

The invention claimed is:

1 . A robotic surgery system comprising:
an orienting platform; a first manipulator comprising a first manipulator mounting base and a first instrument holder configured to support a first surgical instrument mounted to the first instrument holder, wherein the first manipulator is operable to insert the first surgical instrument along a first manipulator insertion axis into a patient through a first remote center of manipulation (RC), rotate the first instrument holder around a first manipulator first axis that intersects the first RC, and rotate the first instrument holder around a first manipulator second axis that intersects the first RC; a second manipulator comprising a second manipulator mounting base and a second instrument holder configured to support a second surgical instrument mounted to the second instrument holder, wherein the second manipulator is operable to insert the second surgical instrument along a second manipulator insertion axis into the patient through a second remote center of manipulation (RC), rotate the second instrument holder around a second manipulator first axis that intersects the second RC, and rotate the second instrument holder around a second manipulator second axis that intersects the second RC; a first set-up linkage between the orienting platform and the first manipulator, the first set-up linkage configured to selectively position the first manipulator and comprising a first set-up linkage extension link, a first set-up linkage first joint, a first set-up linkage coupling link, and a first manipulator support link, wherein the first set-up linkage extension link has a proximal end and a distal end, wherein the first manipulator support link is coupled to the orienting platform via the first set-up linkage extension link, the first set-up linkage first joint, and the first set-up linkage coupling link, wherein the first manipulator mounting base is coupled to and supported by the orienting platform via the first manipulator support link, wherein the proximal end of the first set-up linkage extension link is coupled with the orienting platform for selective linear translation of the first set-up linkage extension link in a first direction relative to the orienting platform to change horizontal separation between the orienting platform and each of the proximal end and the distal end of the first set-up linkage extension link, and wherein the first set-up linkage first joint is operable to rotate the first set-up linkage coupling link relative to the first set-up linkage extension link around a first set-up linkage horizontally oriented axis; and a second set-up linkage between the orienting platform and the second manipulator, the second set-up linkage configured to selectively position the second manipulator and comprising a second set-up linkage extension link, a second set-up linkage first joint, a second set-up linkage coupling link, and a second manipulator support link, wherein the second set-up linkage extension link has a proximal end and a distal end, wherein the second manipulator support link is coupled to the orienting platform via the second set-up linkage extension link, the second set-up linkage first joint, and the second set-up linkage coupling link, wherein the second manipulator mounting base is coupled to and supported by the orienting platform via the second manipulator support link, wherein the proximal end of the second set-up linkage extension link is-coupled with the orienting platform for selective linear translation of the second set-up linkage extension link in a second direction relative to the orienting platform to change horizontal separation between the orienting platform and each of the proximal end and the distal end of the second set-up linkage extension link, and wherein the second set-up linkage first joint is operable to rotate the second set-up linkage coupling link relative to the second set-up linkage extension link around a second set-up linkage horizontally oriented axis.

2 . The robotic surgery system of claim 1 , wherein:
each of the first manipulator first axis and the first manipulator second axis is transverse to the first manipulator insertion axis; the first manipulator second axis is transverse to the first manipulator first axis; each of the second manipulator first axis and the second manipulator second axis is transverse to the second manipulator insertion axis; and the second manipulator second axis is transverse to the second manipulator first axis.

3 . The robotic surgery system of claim 1 , further comprising a mounting base and a support linkage by which the orienting platform is coupled with the mounting base, wherein the support linkage is operable to reposition the orienting platform relative to the mounting base.

4 . The robotic surgery system of claim 3 , wherein:
the mounting base is movable and floor supported; and the mounting base comprises a steerable wheel assembly.

5 . The robotic surgery system of claim 3 , wherein the support linkage comprises a wrist joint that is operable to reorient the orienting platform relative to the mounting base.

6 . The robotic surgery system of claim 3 , wherein the support linkage comprises a selectively repositionable boom member.

7 . The robotic surgery system of claim 3 , wherein the support linkage comprises a shoulder joint operable to selectively orient the orienting platform relative to the mounting base, and wherein the shoulder joint is configured to limit rotation of the support linkage to prevent exceeding a stability limit of the mounting base.

8 . The robotic surgery system of claim 1 , further comprising a surgeon's console that comprises one or more input control devices, wherein manipulation of the one or more input control devices produces manipulation of the first surgical instrument by the first manipulator and/or manipulation of the second surgical instrument by the second manipulator.

9 . The robotic surgery system of claim 1 , further comprising:
a third manipulator supported by the orienting platform, wherein the third manipulator comprises a third instrument holder configured to support a third surgical instrument mounted to the third instrument holder, wherein the third manipulator is operable to insert the third surgical instrument along a third manipulator insertion axis into the patient through a third RC, rotate the third instrument holder around a third manipulator first axis that intersects the third RC, and rotate the third instrument holder around a third manipulator second axis that intersects the third RC; and a fourth manipulator supported by the orienting platform, wherein the fourth manipulator comprises a fourth instrument holder configured to support a fourth surgical instrument mounted to the fourth instrument holder, wherein the fourth manipulator is operable to insert the fourth surgical instrument along a fourth manipulator insertion axis into the patient through a fourth RC, rotate the fourth instrument holder around a fourth manipulator first axis that intersects the fourth RC, and rotate the fourth instrument holder around a fourth manipulator second axis that intersects the fourth RC.

10 . The robotic surgery system of claim 9 , wherein:
each of the third manipulator first axis and the third manipulator second axis is transverse to the third manipulator insertion axis; the third manipulator second axis is transverse to the third manipulator first axis; each of the fourth manipulator first axis and the fourth manipulator second axis is transverse to the fourth manipulator insertion axis; and the fourth manipulator second axis is transverse to the fourth manipulator first axis.

Assignees

• Intuitive Surgical Operations

Inventors

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

Classifications

• A61B34/35

  for telesurgery · CPC title

• A61B2034/304

  including a freely orientable platform, e.g. so called 'Stewart platforms' · CPC title

• 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