Modular manipulator support for robotic surgery
AssigneeIntuitive Surgical Operations, Inc.
InventorsThomas G. Cooper, Stephen J. Blumenkranz, Gary S. Guthart, David J. Rosa
Life of this patent
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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.
Claims42
An apparatus comprising:
- a platform linkage comprising a linear axis and a carriage slidable along the linear axis;
- an orienting platform rotationally coupled to the carriage;
- a plurality of set-up arms, each of the plurality of set-up arms including a proximal end, a distal end, and links coupled by a releasably fixable joint, each of the plurality of set-up arms being rotationally coupled at its proximal end to the orienting platform;
- and
- a robotic manipulator coupled to the distal end of each of the plurality of set-up arms.
A method comprising:
- sliding a carriage along a linear axis of a platform linkage;
- rotating an orienting platform coupled to the carriage;
- rotating each arm of a plurality of set-up arms relative to the orienting platform, each of the plurality of set-up arms including a proximal end, a distal end, and links coupled by a releasably fixable joint, each of the plurality of set-up arms being rotationally coupled at its proximal end to the orienting platform;
- and
- manipulating a robotic manipulator coupled to the distal end of each of the plurality of set-up arms.
A surgical robotic apparatus comprising:
- a carriage that slides along a linear axis of a platform linkage;
- an orienting platform coupled to the carriage, wherein the orienting platform rotates relative to the carriage;
- a plurality of set-up arms that each include a proximal end, a distal end, and links coupled by a releasably fixable joint, wherein each one of the plurality of set-up arms is coupled to the orienting platform at the set-up arm's proximal end, and wherein each one of the plurality of set-up arms rotates relative to the orienting platform;
- and
- a plurality of surgical robotic manipulators, wherein each unique one of the surgical robotic manipulators is coupled to the distal end of a corresponding unique one of the plurality of set-up arms.
Dependencies are inferred from the claim text.