Multi-Port Surgical Robotic System Architecture

A robotic surgery system comprising:

• a mounting base;
• an orienting platform;
• a support linkage by which the orienting platform is coupled with the mounting base, wherein the support linkage comprises a wrist joint that is operable to reorient the orienting platform relative to the mounting base, and wherein the support linkage comprises a selectively repositionable boom member;
• a first manipulator supported by the orienting platform, wherein the first manipulator comprises 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;
• wherein each of the first manipulator first axis and the first manipulator second axis is transverse to the first manipulator insertion axis, and wherein the first manipulator second axis is transverse to the first manipulator first axis;
• and
• a second manipulator supported by the orienting platform, wherein the second manipulator comprises 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;
• wherein each of the second manipulator first axis and the second manipulator second axis is transverse to the second manipulator insertion axis, and wherein the second manipulator second axis is transverse to the second manipulator first axis.