Surgical Robot Positioning System and Related Devices and Methods

A gross positioning system for use with a robotic surgical device, the system comprising:

• (a) a positioning body;
• (b) a yaw mechanism operably coupled to the positioning body at a first rotational joint and configured to rotate about a yaw axis;
• (c) a pitch mechanism operably coupled to the positioning body at a second rotational joint and configured to rotate about a pitch axis that intersects the yaw axis at an incision;
• (d) a plunge mechanism slidably coupled to the pitch mechanism such that the plunge mechanism can move along a length of a plunge axis, wherein the plunge mechanism is configured to translationally move the robotic surgical device along the length of the plunge axis;
• and
• (e) the robotic surgical device operably coupled to the plunge mechanism, the robotic surgical device comprising:
• (i) a device body;
• and
• (ii) an arm operably coupled to the device body, the arm comprising an end effector;
• wherein the robotic surgical device is positionable through an insertion point in a patient such that the arm and at least a portion of the device body is positionable within a body cavity of the patient at a desired yaw angle, pitch angle, and plunge depth.

An external gross positioning system for use with an internal robotic surgical device, the system comprising:

• (a) a support arm;
• (b) a positioning body operably coupled to the support arm;
• (c) a yaw mechanism operably coupled to the positioning body at a first rotational joint and configured to rotate about a yaw axis;
• (d) a pitch mechanism operably coupled to the positioning body at a second rotational joint and configured to rotate about a pitch axis that intersects the yaw axis at an insertion point;
• and
• (e) a plunge mechanism slidably coupled to the pitch mechanism such that the plunge mechanism can move along a length of a plunge axis, wherein the plunge mechanism is configured to be coupleable to the internal robotic surgical device.