Surgical robotics systems with improved robotic arms

Abstract

A robotic surgical system can include one or more adjustable arm supports that support one or more robotic arms. The adjustable arm supports and/or robotic arms can be configured to be deployed from low mount positions, for example, from positions below the surface of the table. The robotic arms can include a plurality of joints providing a plurality of degrees of freedom. The joints may be grouped into a proximal shoulder, an elbow, and a distal wrist. The robotic arms can include one or more redundant degrees of freedom. An insertion mechanism, associated with the robotic arm and configured for providing insertion of an instrument along an assertion axis, can be provided at a distal end of the robotic arms.

1 . A system, comprising:
 a table;   a table support below the table;   an arm support coupled to at least one of the table or table support;   a first robotic arm translatably and rotatably coupled to the arm support to permit the first robotic arm to linearly move along the arm support and rotate relative to the arm support, wherein the first robotic arm comprises a proximal portion and a distal portion and at least four powered joints between the proximal portion and the distal portion, wherein each of the joints is capable of being actuated independently of the other joints, wherein the first robotic arm comprises an instrument drive mechanism configured to drive a surgical instrument;   an insertion mechanism associated with the first robotic arm to provide insertion of the instrument along an insertion axis; and   a second robotic arm coupled to the arm support.   
     
     
         2 . The system of  claim 1 , wherein the first robotic arm is translatable relative to the second robotic arm. 
     
     
         3 . The system of  claim 1 , wherein the insertion mechanism is built within the instrument itself independently of the first robotic arm. 
     
     
         4 . The system of  claim 3 , wherein the insertion mechanism is built within the first robotic arm. 
     
     
         5 . The system of  claim 4 , wherein the insertion mechanism is configured to translate the instrument drive mechanism relative to an insertion body housing to translate the instrument along the insertion axis. 
     
     
         6 . The system of  claim 1 , wherein the first robotic arm is capable of at least seven degrees of freedom, wherein at least one of the degrees of freedom is redundant. 
     
     
         7 . The system of  claim 1 , wherein the first robotic arm and the second robotic arm are capable of being stowed beneath the table. 
     
     
         8 . A system, comprising:
 a table;   a table support below the table;   an arm support coupled to at least one of the table or table support;   a first robotic arm translatably and rotatably coupled to the arm support, wherein the first robotic arm comprises a proximal link and a distal link and at least three joints coupled to a distal end of the distal link, wherein each of the joints is capable of being actuated independently of the other joints, wherein the first robotic arm comprises an instrument drive mechanism configured to drive a surgical instrument; and   an insertion mechanism associated with the first robotic arm to provide insertion of the instrument along an insertion axis.   
     
     
         9 . The system of  claim 8 , wherein at least two of the joints are rotary joints. 
     
     
         10 . The system of  claim 9 , wherein at least one of the joints comprises an insertion axis. 
     
     
         11 . The system of  claim 8 , wherein at least one of the joints rolls the instrument about the instrument axis. 
     
     
         12 . The system of  claim 11 , wherein the at least one joint that rolls the instrument about the instrument axis is part of the first robotic arm or part of the instrument itself. 
     
     
         13 . The system of  claim 8 , further comprising a second robotic arm coupled to the arm support. 
     
     
         14 . The system of  claim 11 , wherein the first robotic arm is translatable relative to the second robotic arm. 
     
     
         15 . The system of  claim 8 , wherein the first robotic arm is capable of at least seven degrees of freedom, wherein at least one of the degrees of freedom is redundant. 
     
     
         16 . A system comprising:
 a table;   a table support for supporting the table;   an arm support coupled to at least one of the table or the table support;   a first robotic arm coupled to the arm support by a translatable and rotatable shoulder joint, the first robotic arm capable of being stowed below the table and elevated, wherein the first robotic arm comprises:
 a proximal portion and a distal portion, wherein the proximal portion comprises a base coupled to the arm support and the distal portion comprises an instrument drive mechanism comprising a plurality of motors, wherein the instrument drive mechanism is configured to drive a surgical instrument attached thereto; and 
 a plurality of powered joints between the proximal portion and the distal portion thereby accommodating movement of the instrument in multiple degrees of freedom, wherein each of the joints is capable of being actuated independently of the other joints; 
   an insertion mechanism associated with the first robotic arm to provide insertion of the instrument along an insertion axis; and   a second robotic arm coupled to the arm support, the second robotic arm capable of being stowed below the table and elevated.   
     
     
         17 . The system of  claim 16 , wherein the insertion mechanism is built within the instrument itself independently of the first robotic arm. 
     
     
         18 . The system of  claim 16 , wherein the first robotic arm is capable of at least seven degrees of freedom, wherein at least one of the degrees of freedom is redundant. 
     
     
         19 . The system of  claim 16 , wherein the first robotic arm comprises proximal link and a distal link, wherein at least three joints are coupled to a distal end of the distal link, and wherein at least two of the joints coupled to the distal end of the distal link are rotary joints. 
     
     
         20 . The system of  claim 19 , wherein the surgical instrument comprises an endoscopic instrument.