Systems and methods for a kinematically-controlled remote center manipulator

A manipulator for articulating a surgical instrument, the manipulator comprising:

• an instrument holder configured to couple with the surgical instrument and to pivot through a remote center of motion;
• and
• a linkage assembly coupled to the instrument holder and configured to constrain motion of the instrument holder to pivot about the remote center of motion, wherein the linkage assembly comprises:
• a proximal pivot joint;
• a distal pivot joint;
• and
• an extension joint between the proximal pivot joint and the distal pivot joint,
• wherein a motor drives at least one of coupled motion of the proximal pivot joint and the extension joint and coupled motion of the extension joint and the distal pivot joint.

A manipulator for articulating a surgical instrument, the manipulator comprising:

• an instrument holder configured to couple with the surgical instrument and to pivot about a remote center of motion;
• and
• a linkage assembly coupled to the instrument holder and configured to constrain motion of the instrument holder to pivot about the remote center of motion, wherein the linkage assembly comprises:
• a first linkage arm having a guide;
• a second linkage arm rotatably coupled to the first linkage arm;
• and
• a third linkage arm translationally coupled to the second linkage arm and configured to travel along the guide of the first linkage arm, wherein movement of the second linkage arm and the third linkage arm cause a distal end of the third linkage arm to trace an arc around the remote center of motion.