Multi-port surgical robotic system architecture

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.