Modular manipulator support for robotic surgery
AssigneeIntuitive Surgical Operations, Inc.
InventorsThomas G. Cooper, Stephen J. Blumenkranz, Gary S. Guthart, David J Rosa
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Abstract
A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.
Claims24
A robotic surgery system comprising:
- an orienting platform;
- a platform linkage movably supporting the orienting platform;
- and
- a plurality of manipulators mounted to the orienting platform, each manipulator movably supporting an associated surgical instrument insertable into a patient;
- wherein the platform linkage comprises a rail, a slidable carriage coupleable to the rail, and at least one rotational arm coupleable to the carriage on a proximal end and to the orienting platform on a distal end.
A modular manipulator support for use in a robotic surgery system, the system comprising a plurality of manipulators defining driven links and joints for moving an associated instrument so as to manipulate tissues, the support comprising:
- an orienting platform;
- a platform linkage movably supporting the orienting platform;
- and
- a plurality of arms coupleable to the orienting platform, each arm movably supporting an associated manipulator and defining releasably fixable links and joints that are pre-configurable;
- wherein the platform linkage comprises a rail, a slidable carriage coupleable to the rail, and at least one rotational arm coupleable to the carriage on a proximal end and to the orienting platform on a distal end.
A robotic surgery system comprising:
- an orienting platform;
- a platform linkage movably supporting the orienting platform relative to a ceiling, wherein the platform linkage comprises a rail, a slidable carriage coupleable to the rail, and at least one rotational arm coupleable to the carriage on a proximal end and to the orienting platform on a distal end;
- a plurality of arms coupleable to the orienting platform, each arm defining releasably fixable links and joints that are pre-configurable;
- and
- a plurality of manipulators coupleable to the arms, each manipulator defining driven links and joints for moving the instruments so as to manipulate tissues.
Dependencies are inferred from the claim text.