Nested proximal links for table mounted manipulator systems and related devices, systems, and methods

Abstract

A remotely operable manipulator system includes a table assembly, a guide rail coupled to the table assembly, and a first manipulator and a second manipulator coupled to the guide rail. The table assembly includes a platform configured to support a body. The first and second manipulators include respective proximal arms coupled to the guide rail and respective distal portions coupled to the proximal arms and configured to support an instrument mounted thereon. The proximal arms of the first and second manipulators are translatable relative to the guide rail along a longitudinal dimension of the guide rail and rotatable relative to the guide rail about a first axis perpendicular to the longitudinal dimension of the guide rail. The proximal arms of the first and second manipulators are positionable relative to each other in a nested configuration.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to U.S. Provisional Application No. 63 / 336,778 (filed on April 29, 2022), entitled “Nesting Proximal Links For Table Mounted Manipulator System, And Related Devices, Systems And Methods,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] Aspects of the present disclosure generally relate to table-mounted manipulator systems. In particular, aspects of the present disclosure relate to linkage configurations for manipulators mounted to a table, such as a medical system table for supporting a patient. Related devices, systems, and methods are also disclosed. Background Art

[0004] A computer-assisted manipulator system ("manipulator system") - sometimes also referred to as a robot-assisted system or robotic system - can include one or more manipulators that can be operated with the assistance of an electronic controller (e.g., a computer) to move one or more instruments and control the functions of one or more instruments when one or more instruments are coupled to the manipulator. The manipulator generally includes mechanical linkages connected by joints. The instrument can be removably coupled to (or permanently coupled to) one of the linkages, typically a distal link of a plurality of linkages. The joints are operable to move the linkages relative to each other (i.e., rotate and / or translate), thereby providing the manipulator with various degrees of freedom to enable the manipulator to move the instrument relative to a work site. The manipulators of the manipulator system can be used to transmit various forces and torques to the instrument to perform various procedures, such as medical procedures or non-medical procedures (e.g., industrial procedures). The linkage to which the instrument is capable of coupling or coupling (e.g., an instrument slide) includes a drive output portion for interconnecting with a corresponding drive input portion of the instrument and mechanically transmitting a drive force to the corresponding drive input portion of the instrument to control the freedom of movement and / or other functions of the instrument.

[0005] In some computer-assisted manipulator systems, the manipulator is attached to a manipulator support structure (e.g., a patient-side cart) that is separate from a support structure that supports the patient or workpiece. In other manipulator systems, the manipulator is directly attached to a support structure (e.g., an operating table) that supports the patient or workpiece. To simplify the description, the support structure that supports the patient or workpiece may be referred to herein as a "table assembly" or "table." A manipulator system in which the manipulator is mounted to the table assembly may be referred to herein as a table-mounted manipulator system.

[0006] The table mounted manipulator system brings some challenges. During the execution of the various tasks that constitute a procedure (e.g., a medical procedure), the space around the table assembly may need to be occupied by various equipment and / or personnel. In addition, the space restrictions around the table may vary depending on the procedure performed, and some of these tasks (such as transferring the patient to the table, covering the manipulator, etc.) benefit from or are facilitated by a large amount of open space around the table. In a manipulator system including a movable patient side cart, this open space around the table can be obtained by moving the patient side cart away from the table for supporting the patient. However, in a table mounted manipulator system, when the space around the table is desired, it is challenging to move the manipulator away because the manipulator is either fixed to the table or cannot be removed from the table at least during a specific stage of the medical procedure. Therefore, in a table mounted manipulator system, it may be challenging to avoid interference between the manipulator and other entities in the space around the table.

[0007] For example, when transferring a patient from a wheeled bed carrying the patient to a workbench, it is desirable that the long side of the workbench is substantially free of obstacles so as to allow the wheeled bed to be placed flush with the workbench, thereby facilitating the transfer of the patient from the wheeled bed to the workbench. However, when the manipulator is mounted to this long side of the workbench, the required open space may be difficult to achieve because the manipulator may hinder the operation. As another example, when preparing a patient on the workbench, many personnel and equipment may need to be close to the patient and occupy a large amount of space around the workbench, so the manipulator mounted to the workbench may hinder personnel and hinder preparation. As another example, when there is a large amount of free space around the manipulator, it may be easier to cover the manipulator with a sterile drape, but when the manipulator is attached to the workbench assembly, it may be difficult to obtain such space due to being close to the workbench.

[0008]

[0006] Therefore, there is a need for improved table mounted manipulator systems, and in particular systems having improved manipulator configurations and how they are mounted to the table and relative to each other. Summary of the invention

[0009] Various embodiments of the present disclosure may solve one or more of the above problems and / or may exhibit one or more of the above desirable features.Other features and / or advantages will become apparent from the following description.

[0010] Some embodiments of the present disclosure relate to a manipulator system capable of remote operation. The system may include a workbench assembly, a guide rail coupled to the workbench assembly, and a first manipulator and a second manipulator coupled to the guide rail. The workbench assembly may include a platform configured to support a body. The first manipulator and the second manipulator may include a corresponding proximal arm coupled to the guide rail and a corresponding distal portion of an instrument coupled to the proximal arm and configured to support the instrument mounted thereon. The proximal arms of the first manipulator and the second manipulator may translate relative to the guide rail along the longitudinal dimension of the guide rail, and may rotate relative to the guide rail around a first axis perpendicular to the longitudinal dimension of the guide rail. The proximal arms of the first manipulator and the second manipulator may be positioned relative to each other in a nested configuration.

[0011] In some embodiments, the system can include a workbench assembly, a guide rail coupled to the workbench assembly, and a plurality of manipulators coupled to the guide rail. The workbench assembly can include a platform configured to support the body. Each manipulator can include a proximal arm coupled to the guide rail and a distal portion of an instrument coupled to the proximal arm and configured to support the instrument mounted thereon. The proximal arm of each manipulator can translate relative to the guide rail along the longitudinal dimension of the guide rail and can rotate relative to the guide rail around a first axis perpendicular to the longitudinal dimension. The proximal arms of at least two of the plurality of manipulators can have staggered heights relative to the guide rail along a direction perpendicular to the transverse dimension and the longitudinal dimension of the guide rail.

[0012] In some embodiments, the system can include a workbench assembly, a guide rail coupled to the workbench assembly, and a plurality of manipulators coupled to the guide rail. The workbench assembly can include a platform configured to support the body. Each manipulator can include a proximal arm coupled to the guide rail and a distal portion of an instrument coupled to the proximal arm and configured to support the instrument mounted thereon. The proximal arm of each manipulator can translate relative to the guide rail along the longitudinal dimension of the guide rail, and can rotate relative to the guide rail around a first axis perpendicular to the longitudinal dimension of the guide rail. In a state where the proximal arms of the manipulator are positioned adjacent to each other at the same end portion of the platform, the proximal arms of the manipulator can be oriented at respective outward angles relative to the longitudinal dimension of the guide rail, and the angles are all equal to or greater than 180 degrees.

[0013] In some embodiments, the system can include a table assembly, a guide rail coupled to the table assembly, and a first manipulator and a second manipulator coupled to the guide rail. The table assembly can include a platform configured to support the body. Each manipulator can include a proximal arm coupled to the guide rail and a distal portion of an instrument coupled to the proximal arm and configured to support the instrument mounted thereon. The first manipulator and the second manipulator can be positioned between a stowed position and a plurality of deployed positions. In the stowed position, the first manipulator and the second manipulator can each be positioned below a first end portion of the platform and not protrude beyond the lateral or longitudinal dimensions of the platform.

[0014] In some embodiments, the system can include a table assembly, a guide rail coupled to the table assembly, and a first manipulator and a second manipulator movably coupled to the guide rail. The table assembly can include a platform configured to support the body, the platform extending along a longitudinal dimension. The guide rail can extend parallel to the longitudinal dimension. The first manipulator and the second manipulator can translate along the guide rail, and each manipulator includes a proximal arm coupled to the guide rail and a distal portion coupled to the proximal arm and configured to hold a medical tool. The first manipulator and the second manipulator can be arranged so that at least their proximal arms are in a nested configuration.

[0015] In the deployed state, the proximal arms of the first manipulator and the second manipulator can be positioned in a nested configuration relative to each other. In some embodiments, the proximal arms can be oriented at respective outward angles of at least 180 degrees relative to the guide rail and overlap each other in a given direction in the nested configuration. The given direction can be parallel to the transverse dimension of the guide rail. In some embodiments, the proximal arm of the first manipulator is offset from an axis perpendicular to the longitudinal dimension of the guide rail. In some embodiments, the coupling portion of the first manipulator that rotatably couples the proximal arm to the guide rail can include a bend, and the bend can be located between the axis and the proximal arm.

[0016] In some embodiments, the first manipulator and the second manipulator can further include respective coupling portions that rotatably couple the proximal arm to the guide rail, and the coupling portion of the first manipulator can have a longer height dimension than the coupling portion of the second manipulator. The first manipulator and the second manipulator can further include respective coupling portions that rotatably couple the proximal arm to the guide rail, and the coupling portion of the first manipulator can allow the proximal arm of the first manipulator to rotate about a first axis and about a second axis parallel to the longitudinal dimension of the guide rail.

[0017] In the nested configuration and deployed state, the distal portions of the first manipulator and the second manipulator can be positioned higher than the respective proximal arms of the first manipulator and the second manipulator. The distal portions of the first manipulator and the second manipulator can include an instrument support, and in the nested configuration, the instrument support of the first manipulator and the second manipulator can be positioned higher than the platform. In the nested configuration, the proximal arms can be positioned adjacent to each other at one of the end portions of the platform.

[0018] The platform can include an assembly of multiple sections movable relative to each other to change the configuration of the platform between multiple configurations. The multiple sections can include a first end section, one or more intermediate sections, and a second end section positioned consecutively along a longitudinal dimension of the platform, and each of the first end section and the second end section can be independently pivotable relative to the one or more intermediate sections.

[0019] In some embodiments, the system can further include one or more first carriages, each of which movably couples one of the proximal arms of the first manipulator and the second manipulator to the rail so that the proximal arm can translate relative to the rail along the longitudinal dimension of the rail. In some embodiments, the system can further include a control system operably coupled to drive the first manipulator and the second manipulator to position the proximal arm in the nested configuration.

[0020] The workbench assembly can include a support column supporting the platform assembly, and the platform can be tilted relative to the support column. The guide rail can be configured to tilt with the platform relative to the support column. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present disclosure can be understood by the following detailed description (alone or in conjunction with the accompanying drawings). The accompanying drawings are introduced to provide a further understanding of the present disclosure and are incorporated into and constitute a part of this specification. The accompanying drawings illustrate one or more embodiments of the present teachings and together with the description explain certain principles and operations. In the drawings:

[0022] Figure 1A is a schematic side view of an embodiment of a table mounted manipulator system in a first state.

[0023] Figure 1B yes Figure 1A Schematic side view of a table mounted manipulator system in a second state.

[0024] Figure 2 yes Figure 1A Schematic end view of a table mounted manipulator system.

[0025] Figure 3A yes Figure 1A A perspective view of a table mounted manipulator system with only a portion of the manipulator shown.

[0026] Figure 3B yes Figure 1B A perspective view of a table mounted manipulator system with only a portion of the manipulator shown.

[0027] Figure 4A is a perspective view of an embodiment of a table mounted manipulator system in a first state, with only a portion of the manipulator shown.

[0028] Figure 4B yes Figure 4A A perspective view of a table-mounted manipulator system in a second state.

[0029] Figure 4C yes Figure 4AA perspective view of the workbench mounted manipulator system in a third state.

[0030] Figure 4D yes Figure 4A A perspective view of a table-mounted manipulator system in a fourth state.

[0031] Figure 5 is a perspective view of an embodiment of a table mounted manipulator system in a first state.

[0032] Figure 6 yes Figure 5 A perspective view of a table-mounted manipulator system in a second state.

[0033] Fig. 7A yes Figure 5 A side view of the workbench mounted manipulator system in a third state.

[0034] Figure 7B yes Figure 5 A side view of the workbench mounted manipulator system is in a fourth state, and the fifth state is illustrated in phantom lines.

[0035] Figure 7C yes Figure 5 A side view of the workbench mounted manipulator system is shown in a sixth state, and the seventh state is illustrated in dashed lines.

[0036] Fig.7D yes Figure 5 A side view of the workbench mounted manipulator system is shown in an eighth state, and the ninth state is illustrated in dashed lines.

[0037] Fig. 8A is a perspective view of an embodiment of a table mounted manipulator system in a first state, with only a portion of the manipulator shown.

[0038] Figure 8B yes Fig. 8A A perspective view of a table-mounted manipulator system in a second state.

[0039] Fig. 9 yes Figure 5 A top view of a table mounted manipulator system with the manipulator in a deployed and nested configuration with a gurney adjacent to the table mounted manipulator system.

[0040] Fig.10 yes Figure 5 A perspective view of a table mounted manipulator system with the manipulator in Fig. 9 Deployment and nested configurations.

[0041] Fig.11is a perspective view of a table mounted manipulator system. DETAILED DESCRIPTION

[0042] As discussed above, in a table mounted manipulator system, attaching the manipulator to the table assembly may present certain challenges, such as challenges related to the manipulator, personnel, and / or table obstructing or interfering with each other during various stages of the medical procedure.

[0043] In various embodiments described herein, the bench mounted manipulator can be moved between a stowed configuration and various deployed configurations, in which the manipulator is compressed or folded (e.g., when not in use), and in various deployed configurations, the manipulator is at least partially unfolded (e.g., for use in a procedure). One method to avoid the manipulator from becoming an obstacle or otherwise interfering with a task is to place the manipulator in a stowed state or configuration during a stage where more space is needed around the bench. In the stowed state, the manipulator is generally compressed (e.g., folded) and placed in a stowed position, such as below the platform of the bench assembly. However, it is not always feasible to stow the manipulator in order to provide enough space for the task, because some tasks may require or benefit from the manipulator being in a deployed configuration during the task. In addition, even if the task being performed does not require the manipulator to be in a deployed configuration, in some cases, it may be undesirable to position the manipulator in a stowed configuration during the execution of the task. For example, when preparing the manipulator for a procedure, they are placed under sterile conditions, such as covering the exposed manipulator portion with a sterile drape. On the contrary, stowing the manipulator may damage the sterility of the manipulator, which may have various undesirable consequences. The stowing of the manipulator may damage the sterility of the manipulator, because the stowing position (e.g., under the workbench) is generally not in the sterile zone established around the workbench. The sterile zone refers to the area where any exposed surface of the object in the area remains sterile (e.g., substantially free of contaminants, such as biological pathogens, dust, oil, etc.), while the non-sterile surface is covered by a sterile barrier. Since the manipulator in the stowed configuration may damage its sterility, after completing the task requiring the space around the workbench and after the manipulator has been moved into the sterile zone from the stowed state, the manipulator needs to be placed in a sterile configuration (e.g., covered with a sterile drape). But in some cases, it is undesirable to place the manipulator in the sterile state (e.g., covered) of the manipulator after completing the task. For example, when the task involves transferring the patient to the workbench and / or getting the patient ready on the workbench, covering the manipulator after the task is completed will result in a delay between the time when the patient is ready and the time when the subsequent tasks of the entire medical procedure can be performed. Such delays are generally undesirable because once the patient has been prepared for the procedure (e.g., transferred to the table), it is generally desirable to proceed and complete the entire medical procedure as quickly as possible. On the other hand, before bringing the patient to the procedure space and preparing the patient for the procedure, time constraints are less and delays are generally more acceptable. Therefore, it is generally desirable to perform as many tasks as possible before the preparation of the patient to minimize the time the patient is at the table. Another reason for desiring to cover the manipulators before transferring the patient to the table is that it is generally easier to cover the manipulators when the patient is not present because personnel may have more room to operate at that time.Another reason to cover the manipulators before transferring the patient to the table is to avoid placing non-sterile objects near the sterile patient, even if only temporarily (e.g., while they are being draped). Therefore, even if space can be freed by folding the manipulators, it is not always an acceptable option to free up space for a certain phase of the procedure.

[0044] Another approach to alleviating some of the challenges discussed above is to configure the system to allow relative movement between the manipulator and the table, such as by movably attaching the manipulator to a rail coupled to the table assembly. This would allow the manipulator to be moved along the rail toward one end of the table, thereby clearing some space in the middle portion of the table. However, even with the ability to move the manipulator, the manipulator may still hinder certain tasks. For example, as described above, transferring a patient to a table may benefit from having the entire longitudinal side of the table free of obstructions so that the wheeled wheel can be positioned flush with the longitudinal side of the table. When multiple manipulators coupled to the same rail are moved to one end of the table, at least one of the manipulators will generally remain at least partially along the longitudinal side of the table and, therefore, potentially interfere with equipment (e.g., a wheeled wheel) and / or personnel. This occurs because the proximal link (i.e., the link coupled to the rail) of one manipulator may block another manipulator and prevent the other manipulator from fully moving out of the way. For example, consider Fig.11 The system illustrated in FIG. 1 includes a platform assembly 10 supported by a support column 2, a guide rail 20 coupled to the platform assembly 10, and two manipulators 40_1 and 40_2 (only a portion of the proximal link of each manipulator is depicted) movably coupled to the guide rail 20. Fig. 9 In the system, manipulators 40_1 and 40_2 can translate in the direction of the longitudinal dimension 8 of the platform assembly 10, and the proximal links of manipulators 40_1 and 40_2 can also be rotatably coupled to the rails to allow the links to rotate about vertical rotation axes 7_1 and 7_2. Manipulators 40_1 and 40_2 can be in a deployed configuration in which the manipulators are at least partially deployed. In the deployed configuration, portions of manipulators 40_1 and 40_2 can extend generally upward and / or away from the rails 20. Fig.11 As shown, when the manipulator 40_1 is positioned at the end of the guide rail 20, the proximal link of the manipulator 40_1 can be rotated to an angle greater than 180 degrees relative to the guide rail 20. The distal portion of the manipulator 40-1 can be moved around the end of the platform assembly 10 away from the longitudinally extending side of the platform assembly 10 (i.e., along the Fig.11 The side extending in the x direction in the embodiment of the present invention, or the side extending along the dimension 8 of the platform assembly) is moved to move along the lateral extending side of the platform assembly (i.e., along the Fig.11In other words, manipulator 40_1 can be positioned in the deployed configuration without blocking portions of the longitudinal sides of platform assembly 10. However, as Fig.11 As shown, since the proximal link of manipulator 40_1 blocks the proximal link of manipulator 40_2, the proximal link of manipulator 40_2 cannot rotate relative to guide rail 20 like manipulator 40_1. Therefore, manipulator 40_2 can only rotate to an angle less than 180 degrees when deployed. Therefore, the distal portion of the manipulator 40_2 cannot move completely around the end of the platform assembly 10 and cannot be positioned along the side of the platform assembly 10. (Angle ( and is the outward angle, such as Fig.11 . ) Therefore, the manipulator 40_2 continues to protrude laterally into the space beside the longitudinally extending side of the platform assembly 110 and may interfere with certain tasks, such as patient transfer. Please note that by moving the manipulators to the ends of the platform assembly opposite to each other rather than moving them to the same end of each other, it is generally impossible to avoid the problem that one of the manipulators continues to protrude beyond the longitudinal side of the platform. It is generally not feasible to move the manipulator to the opposite end of the workbench, one of the reasons being that one end of the workbench (often the head end) is generally reserved for various equipment and personnel, so there may not be enough space for the manipulator to move to the head end of the workbench. In addition, it may be necessary to lay various pipelines (e.g., IV lines, flushing / suction tubes, wires and / or cables, etc.) to the patient and / or equipment around the workbench. These pipelines are generally laid around the end of the workbench, which is opposite to the position where the manipulator is expected to be mainly located, so as to avoid or minimize collisions between the manipulator and the pipeline when the manipulator returns to its working position. However, if the manipulator is positioned at the head end of the workbench and the manipulator is positioned at the foot end of the workbench, it is impossible to lay the pipeline along the end of the workbench away from the manipulator. Therefore, when the manipulators are positioned at opposite ends of a table from each other during tasks such as patient transfers, it can be difficult to route the tubing in a manner that does not result in a collision with one of the manipulators when the manipulators return to their operating positions (e.g., near the middle of the table).

[0045] Therefore, in order to solve the above-mentioned challenges of the table-mounted manipulator system, various embodiments disclosed herein envision a table-mounted manipulator system including a table assembly and a guide rail coupled to the table assembly. The table assembly includes a platform for supporting a patient or a workpiece. The guide rail supports two or more manipulators, which can be translated along the guide rail. The manipulators are configured so that they can be placed in a nested configuration. The nested configuration can allow the manipulator to be coupled to the guide rail to be completely or partially positioned outside the path of the longitudinally extending side of the table assembly, thereby freeing up space for various tasks. Specifically, in some embodiments, the nested configuration includes a configuration in which the proximal link of the manipulator coupled to the guide rail is oriented at an angle of 180 degrees or more relative to the guide rail (i.e., relative to its longitudinal dimension) and overlaps each other in a given direction (the given direction may vary according to the embodiment). (The angle referred to herein is an angle facing outward relative to the guide rail, as shown in the figure and described in more detail below.) In some embodiments, in the nested configuration, the proximal link of the manipulator overlaps each other in the vertical direction. As used herein, "horizontal" refers to a direction parallel to a horizontal plane, which is a plane defined by (i.e., parallel to) the lateral and longitudinal dimensions of the rail assembly, and "vertical" refers to a direction perpendicular to the horizontal plane. In some embodiments, vertical nesting of the proximal links is achieved by staggering the relative heights of the respective proximal links of the manipulators relative to the rails. This vertical overlapping nesting configuration can allow the distal portion of the manipulator to swing around the end of the platform in a state in which the manipulator is coupled to the rail and positioned at an end portion (e.g., the foot end) of the platform assembly, so that the manipulator moves completely away from the longitudinally extending side of the table assembly in the deployed configuration to a position along the lateral extending side (end side) of the table assembly. Therefore, in some embodiments disclosed herein, when the manipulator is deployed, obstacles on the longitudinally extending side of the table assembly can be cleared, thereby facilitating various tasks that benefit from or require such free space, such as transferring a patient from a wheeled bed to a table. In other embodiments, the proximal links of the manipulator can overlap in the horizontal direction in the nested configuration, which can cause some parts of the manipulator to protrude beyond the longitudinally extending sides of the platform assembly, but in some cases can still provide enough free space for certain tasks. The nested configuration can be used in the deployed state and the stowed state. In some embodiments, in the deployed state and the nested configuration of the manipulator, the manipulator is configured to remain within the sterile field, and thus the manipulator can be covered before performing a task (e.g., patient transfer) where additional space is desired, without compromising its sterility by being removed from the path to perform the task.

[0046] In some embodiments, each of the manipulators further includes a coupling portion that couples the proximal link of the manipulator to a guide rail, wherein the coupling portion includes one or more joints to rotate the proximal link relative to the guide rail. The coupling portion and the proximal link of the first manipulator form an L-shaped portion, which is configured to allow the proximal link of another manipulator to be adjacent to the proximal link of the first manipulator in the space defined between the two legs of the L-shaped to be nested, wherein the proximal links of the two manipulators overlap in a given direction. In some embodiments where the proximal links overlap each other in the vertical direction in the nested configuration, in the neutral state of the first manipulator, the coupling portion of the first manipulator extends vertically from the guide rail, and the proximal link extends horizontally from the coupling portion, and the coupling portion of the second manipulator is at the same height as the proximal link coupled thereto. Therefore, due to the vertical extension of the coupling portion of the first manipulator, the proximal link of the first manipulator is positioned at a lower height than the proximal link of the second manipulator. This height difference allows the proximal links to overlap vertically without collision. In other embodiments where the proximal links are horizontally nested, the coupling portion of the first manipulator extends horizontally from the guide rail in a first direction, and the proximal link of the first manipulator extends horizontally from the coupling portion in a second direction perpendicular to the first direction, thereby forming a horizontally oriented L-shaped portion. This allows the proximal link of the second manipulator to be positioned adjacent to the proximal link of the first manipulator and horizontally overlap with the proximal link of the first manipulator.

[0047] Now turn to Figure 1 to Figure 8B , an implementation of a table mounted manipulator system will be described.

[0048] Figure 1A-Figure 3B An embodiment of a table mounted manipulator system 100 ("system 100") is schematically illustrated. Figure 1A and Figure 1B illustrates a side view of the system 100 in two different states, Figure 2 illustrates an end view of system 100, and Figure 3A and Figure 3B Various parts of the system 100 are illustrated in schematic perspective views, with other parts omitted for clarity. Figure 1A-Figure 2 As shown in FIG. 1 , the system 100 includes a table assembly 101, at least one rail assembly 120 coupled to the table assembly 101, and two or more manipulators 140 coupled to the rail assembly 120. Each manipulator 140 may be configured to carry one or more instruments 150, which may be detachably or permanently mounted on the manipulator. Figure 1A, the system 100 may also include a control system 1006, a user input and feedback system 1004, and / or an auxiliary system 1008. In some embodiments, the system 100 is configured as a computer-assisted, remotely operable medical system, in which case the table assembly 101 may be configured to support a patient (not shown) and the instrument 150 may be a medical instrument. The system 100 in this configuration may be used, for example, to perform any of a variety of medical procedures, such as surgical procedures, diagnostic procedures, imaging procedures, therapeutic procedures, and the like. In addition, when the system 100 is configured as a remotely operable medical system, it does not necessarily need to be used for living human patients. For example, non-human animals, corpses, tissue-like materials for training purposes, and the like may be supported on the table assembly 101 and operated by the system 100. In other embodiments, the system 100 is configured as a computer-assisted, remotely operable system for a non-medical environment, in which case the table assembly 101 may be configured to support an inanimate workpiece (an object being manufactured, repaired, tested, etc.) and the instrument 150 may be a non-medical instrument, such as an industrial instrument.

[0049] like Figure 1A As shown in , the workbench assembly 101 includes a platform assembly 110 (also referred to as "platform 110") for supporting a patient or inanimate workpiece, a support column 102 coupled to and supporting the platform assembly 110, and a base 105 coupled to the support column 102. The base can be configured to contact the ground or other surface on which the workbench assembly 101 is placed to provide stability for the workbench assembly 101. In some embodiments, the base 105 is omitted. In some embodiments, the base 105 includes movable features, such as wheels, rails, or other such features (not shown) to allow the workbench assembly 101 to move along the ground or other surface. Figure 1A-Figure 2 , the support column 102 is illustrated as a single vertical columnar part to simplify the discussion, but the support column 102 can take any desired shape and can include any number of parts. For example, the support column 102 can include a horizontal support structure (not illustrated) such as a beam, a rail, etc., to couple the platform assembly 110 to the vertical portion of the support column 102. In addition, in various embodiments, the support column 102 can be telescopic and configured to extend and retract in height.

[0050] The platform assembly 110 includes one or more platform segments 103 to support a patient or workpiece. Each of the platform segments 103 has a support surface configured to contact and support a patient or workpiece. In some embodiments, multiple platform segments 103 are used, and the platform segments 103 are arranged in series to support different portions of a patient or workpiece. For example, in Figure 1AIn an exemplary embodiment, the platform assembly 110 includes a first end section 103_1, one or more middle sections 103_2, and a second end section 103_3, wherein the one or more middle sections 103_2 are arranged between the two end sections 103_1 and 103_3. In some embodiments, the first end section 103_1 can be configured to support the patient's head, the second end section 103_3 can be configured to support the patient's feet and / or legs, and the one or more middle sections 103_2 can be configured to support the patient's torso and / or other parts. For convenience, the platform assembly 110 is close to one side of the first end section 103_1 (for example, Figure 1A The left side of the orientation shown in FIG. 10A ) will be referred to herein as the “head” (or “head side” or “head end”) of the platform assembly 110, and the side of the platform assembly 110 proximal to the second end segment 103_3 (e.g., Figure 1A ) will be referred to herein as the "foot" (or "foot side" or "foot end") of the platform assembly 110, but this is an arbitrary convention selected herein for ease of description only and is not intended to limit the configuration or use of the workbench assembly 101 (e.g., if desired, the patient's head can be positioned on the "foot" side of the platform assembly 110, and vice versa). The relative position of two components or two portions of a single component can also be described using "head" and "foot" (e.g., the "head end" and "foot end" of the guide rail 121), where the "head" refers to the component or portion that is relatively closer to the head end of the workbench assembly 110, and the foot refers to the component or portion that is relatively closer to the foot end of the workbench assembly 110. In other embodiments, different numbers and arrangements of platform segments 103 are used, including one, two, four, or more platform segments 103. In some embodiments, one or more of the platform segments 103 can move relative to other platform segments 103 and / or relative to the support column 102. For example, in some embodiments, some or all of the platform segments 103 are coupled to adjacent platform segments 103 and / or support columns 102 via rotatable joints such that at least some of the platform segments 103 can tilt relative to each other and / or relative to the support columns 102. The platform assembly 110 can also move as a whole relative to the support columns 102, as described in more detail below.

[0051] The platform assembly 110 has a longitudinal dimension 198 (see FIG. 1 ), a transverse dimension 199 orthogonal to the longitudinal dimension 198 (see FIG. Figure 2), and a thickness or height dimension (not labeled) that is orthogonal to both the longitudinal and lateral dimensions. As used herein, the longitudinal dimension 198 refers to the maximum extended dimension of the platform assembly 110 when all of the platform segments 103 of the platform assembly are fully extended and all of the platform segments 103 are oriented with their support surfaces generally aligned in the same plane with one another (or as close to that state as possible) so as to collectively form a substantially flat combined support surface (with potentially small gaps between adjacent platform segments 103). The longitudinal direction extends from the head to the foot of the platform assembly 110 and vice versa. Generally, when the platform assembly 110 is in a neutral configuration, the longitudinal and lateral dimensions 198 and 199 of the platform assembly 110 and the support surfaces of the platform segments 103 are oriented generally parallel to the ground or other surface supporting the workbench assembly 101. For example, in Figure 1A-Figure 2 , the longitudinal dimension 198 is parallel to the x-direction, and the transverse dimension 199 is parallel to the y-direction, wherein the x-direction and the y-direction are parallel to the ground or other surface on which the workbench assembly 101 is placed. Figures 1A to 2 , the thickness dimension is parallel to the z-direction, which is perpendicular to the ground or other surface. However, one of ordinary skill in the art will appreciate that the platform assembly 110 as a whole and / or its individual platform segments 103 do not necessarily have to be parallel to the ground, and that one or both of the longitudinal and / or lateral dimensions 198 and 199 may be tilted relative to the ground in a variety of configurations through which the platform assembly 110 and / or platform segments 103 may move, including, in some cases, a neutral configuration.

[0052] At least one of the platform segments 103 is directly coupled to and supported by the support column 102. The remaining platform segments 103 may be directly coupled to the support column 102, or they may be indirectly coupled to the support column 102 via a chain of one or more intermediate platform segments 103. For example, in some embodiments, the main platform segment 103 (e.g., the middle segment 103_2) is coupled to and directly supported by the support column 102, while the other portions of the platform segments 103 (e.g., the end segments 103_1 and 103_3) are coupled to the main platform segment 103 or another platform segment 103. As another example, in some embodiments, multiple platform segments 103 (in some embodiments, all) are directly coupled to the support column 102, rather than being coupled to another platform segment 103.

[0053] In some embodiments, some (in some cases all) of the above-mentioned parts of the workbench assembly 101 can be moved relative to each other. For example, in some embodiments, the platform assembly 110 as a whole can move relative to the support column 102, such as by tilting around a horizontal axis, rotating around a vertical axis, vertically translating along the support column 102, horizontally translating relative to the support column 102, and the like. In some embodiments, such movement of the platform assembly 110 as a whole can be provided by coupling the main platform section 103 (e.g., the middle section 103_2) to one or more joints of the support column 102. In addition, as described above, the individual platform sections 103 can move relative to each other and can also move relative to the support column 102, which can be achieved by coupling the platform section 103 to the support column 102 or to the joints of the adjacent platform sections 103.

[0054] In some embodiments, the platform assembly 110 also includes one or more accessory rails 104. The accessory rails 104 can be configured to receive accessory devices removably mounted thereon, such as arm supports, leg supports, body restraints, width extensions, various clamps for surgical retractors and device holders. In some embodiments, the accessory rails 104 comply with industry standard specifications familiar to those of ordinary skill in the art to allow compatibility with accessory devices that comply with the standards. The accessory rails 104 can be attached to one or more longitudinally extending sides of the platform segments 103. One or more openings can be defined between the accessory rails 104 and the sides of the platform segments 103 to which the accessory rails 104 are attached, and portions of accessories mounted to the accessory rails 104 can be inserted through these openings.

[0055] As described above, system 100 includes two or more manipulators 140 . Figure 1A-Figure 2 Two manipulators 140 are illustrated, but any number of manipulators 140 (e.g., one, two, three or more manipulators 140 coupled to each guide rail assembly 120) may be included. The manipulator 140 may include a kinematic structure of a connecting rod coupled together by one or more joints. The manipulator 140 may be moved by various degrees of freedom of motion provided by the joint, thereby allowing the instrument 150 mounted thereon to move relative to the working part. For example, some joints may provide rotation of the connecting rod relative to each other, other joints may provide translation of the connecting rod relative to each other, and some joints may provide rotation and translation at the same time. Some or all of the joints may be powered joints, which means that a powered drive element may control the movement of the joint by providing motor power. Such powered drive elements may include, for example, electric motors, pneumatic or hydraulic actuators, etc. In addition, some joints may be unpowered joints. The specific number and arrangement of connecting rods and joints are not limited. The more connecting rods and joints included, the greater the degree of freedom of movement of the manipulator 140.

[0056] like Figure 1A-Figure 2 As shown in FIG. 1 , the proximal end portion of each manipulator 140 is movably coupled to the table assembly 101 via the rail assembly 120, as described in further detail below. The proximal end portion of each manipulator 140 may include a proximal arm 134 (e.g., proximal arms 134_1 and 134_2) and a rail coupling portion 135 (also referred to as a "coupling portion", e.g., coupling portions 135_1 and 135_2). ( Figure 3A and Figure 3B The proximal arm 134 and the rail coupling portion 135 of the manipulator 140 are illustrated, but other portions of the manipulator 140 are omitted for clarity. The proximal arm 134 includes one or more proximal links. The rail coupling portion 135 is coupled to the rail assembly 120 (specifically, coupled to the carriage 126, which will be described in more detail below), and the proximal arm 134 extends from the rail coupling portion 135. In some cases, the rail coupling portion 135 can be a portion of the proximal arm 134, such as Figure 1A-Figure 3B In other cases, the guide rail coupling portion 135 can be a separate component coupled to the proximal arm 134, such as Figure 1A-Figure 3B In the neutral state of the platform assembly 110 (e.g., the platform 110 is parallel to the ground or other supporting surface) and the proximal arm 134, the proximal arm 134 extends horizontally from the guide rail coupling portion 135, such as Figure 1A-Figure 3B However, in some embodiments, at least one of the proximal arms 134 can be oriented in other directions in other states, as described below with respect to Figure 4A-4B In the depicted embodiment, each manipulator 140 may include an additional link (not labeled) coupled to and supported by the proximal arm 134 .

[0057] Each coupling portion 135 includes one or more joints that enable the proximal arm 134 to move relative to the rail assembly 120 (and thus the more distal portion of the manipulator 140). In particular, the rail coupling portion 135 of each manipulator 140 includes at least a first rotational joint that enables the proximal arm 134 to rotate about a first rotational axis 136 (e.g., axes 136_1 and 136_2, see Figure 1A , Figure 3A and Figure 3B ) rotates, and the first rotation axis is aligned with the vertical direction in the neutral state of the platform assembly 110 and the neutral state of the proximal arm 134.

[0058] The manipulators 140 are configured so that they can be placed in a nested configuration, where a portion of one manipulator 140 can be nested within a portion of another manipulator 140. The nested configuration can be used for deployed and stowed states of the manipulators 140. The deployed state of the manipulators 140 includes any state in which the manipulators 140 are removed from a stowed position (e.g., below the platform 110) and at least partially deployed, so that the distal end portion of the manipulator 140 (which may include an instrument support configured to carry the instrument 150) is positioned at or above a predetermined height (e.g., the height of the guide rail 121, the height of the bottom surface of the platform assembly 110, the height of the top surface of the platform assembly 110, etc.). For example, in some embodiments, the aforementioned predetermined height includes the boundary of the sterile field, and because the distal end portion of the manipulator 140 is located above the predetermined height when deployed, the distal end of the deployed manipulator 140 is generally located within the sterile field. In contrast, the manipulator 140 in the stowed state is generally compressed (folded) and disposed in a stowed position outside the sterile field (e.g., below the platform assembly 110) (e.g., see Figure 5 240 in the stowed state as an example). In some embodiments, the manipulator 140 remains within the sterile field when in the deployed configuration. Thus, in some embodiments, when the manipulator 140 is deployed and in the nested configuration, the manipulator 140 remains within the sterile field. The manipulator 140 may also be in the nested configuration when stowed. The nested configuration of the manipulator 140 allows the manipulator 140 to be positioned completely or partially out of the path of the longitudinal side 109b of the platform assembly 110, even when deployed, thereby freeing up space along the longitudinal side 109b for various tasks.

[0059] In some embodiments, the nested configuration includes a configuration in which each of the proximal arms 134 (eg, the proximal-most link thereof) is oriented at an angle of 180 degrees or greater relative to the rail 121, such as Figure 3B . In other words, in the nested configuration, the proximal arms 134 are oriented at an angle of 90 degrees or more relative to a line extending outward from the table assembly 101, parallel to the ground or the lateral dimension 199 of the platform assembly 110, and perpendicular to the longitudinal dimension 197 of the rail 121 (i.e., generally perpendicular to the longitudinally extending side 109b of the platform 110). In other words, the nested configuration includes a configuration in which each of the proximal arms 134 is oriented parallel to the longitudinal dimension 197 of the rail 121 and / or the longitudinal dimension 198 of the platform assembly 110 (e.g., see Figure 3B 134_2), or extending in a direction toward the middle of the platform assembly 110 (see, for example, Figure 3BIn addition, in the nested configuration, the proximal arms 134 of the manipulator 140 are positioned adjacent to each other near the end portion of the platform assembly 110 (e.g., in some embodiments, near the foot end, and as shown in FIG. Figure 3B ), wherein the proximal arms 134 overlap each other in at least one given direction. The nested configuration as described above allows the manipulator 140 to move completely or substantially completely without obstruction of the longitudinally extending side 109b of the platform assembly 110, which is beneficial for various tasks that require or benefit from free space along the longitudinally extending side 109b (such as transferring a patient from a gurney to the platform assembly 110).

[0060] The angle of the proximal arm relative to the guide rail referred to herein is measured in the direction illustrated in the figure, i.e., the angle is an outward-facing angle. In other words, if the sweep of the angle is tracked from the guide rail, the angle initially sweeps outward from the guide rail. This outward-facing angle is also referred to herein as an outward angle. Alternatively, if the angle of the proximal arm is measured in the opposite direction from the guide rail, the values ​​referred to herein will be reversed (e.g., "greater than 180 degrees" will become "less than 180 degrees" and vice versa).

[0061] In some embodiments, Figure 3B As shown in FIG. 1 , in the nested configuration, the proximal arms 134 of the manipulator 140 overlap each other in the vertical direction, wherein one is at a higher height than the other when measured from the ground. This may be referred to herein as a vertical nested configuration or vertical nesting. When it may be desirable to move the manipulator 140 from a position along the longitudinally extending side 109 b of the platform assembly 110 (e.g., Figure 1A ), the vertical nesting configuration may allow the distal portion of the manipulator 140 to move completely around the end of the platform assembly 110 so as to be positioned along the laterally extending side 109a (end portion) of the platform assembly 110, such as Figure 1B That is, as the proximal arm 134 rotates, the distal portion of the manipulator 140 moves in an arc around the end of the platform, so that the distal portion of the manipulator 140 moves in the longitudinal direction ( Figure 3B The positive x-axis direction in the direction of the axis of the beam moves beyond the end of the platform 110 and moves in a lateral inward direction ( Figure 3B The manipulator 140 is moved in the positive y-axis direction (in the positive y-axis direction) past the outer edge of the longitudinally extending side 109b of the platform 110 to a position along the transversely extending side 109a of the platform 110. Thus, in some embodiments, the manipulator 140 can be completely moved out of the path of the longitudinally extending side 109b of the platform assembly 110 so that no portion of the manipulator 140 protrudes laterally outward (e.g., in the Figure 3B (in the negative y-axis direction) beyond the outer edge of the longitudinally extending side 109b of the platform assembly 110.

[0062] The platform assembly 110 is moved (translated) along the rail 121 toward the foot end of the platform assembly 110 and the proximal arms 134 of the manipulator 140 are rotated until they are parallel to or beyond parallel to the rail 121 (i.e., angled outward relative to the rail 121). is 180 degrees or more), you can Figure 1A The status reached Figure 1B and Figure 3B The vertical nested configuration shown in the example. For example, in Figure 3B In the embodiment, the proximal arms 134_1 and 134_2 are in a nested configuration and are respectively angled outward relative to the guide rail 121. and Orientation, where the outward angle Angle greater than 180 degrees and outward =180 degrees. When the proximal arm 134 is rotated to this state, the distal portion of the manipulator 140 swings around the end of the platform to a final position along the transversely extending side 109a. Therefore, in the nested configuration, the manipulator 140 is outside the path of the longitudinally extending side 109b of the platform assembly 110 and does not hinder the longitudinally extending side 109b of the platform assembly 110, which is desirable at various stages of the medical procedure such as, for example, when transferring a patient from a wheeled bed to the platform assembly 110. In addition, in this position, the manipulator 140 can optionally be maintained in the sterile field, and therefore in some embodiments, for a task (e.g., a patient transfer), moving the manipulator 140 out of the path of the longitudinally extending side 109b of the platform assembly 110 may not compromise the sterility of the manipulator 140. Therefore, the manipulator 140 can be covered with a sterile drape before the task and maintained sterile during the completion of the task without having to move the manipulator 140 to a position outside the sterile field (e.g., in a stowed or semi-stowed state) in other ways.

[0063] In some embodiments, the above-mentioned nesting of the proximal arms 134 in the vertical direction is achieved by staggering the heights of the proximal arms 134 relative to the guide rail 121, so that the proximal arms 134 of one manipulator 140 (e.g., Figure 1A - proximal arm 134_1 in FIG. D) and the proximal arm 134 of the adjacent manipulator 140 (e.g., Figure 1A - The height difference between the proximal arms 134_2 in Figure D is sufficient to allow adjacent proximal arms 134 to move above or below each other without colliding. Figure 1B and Figure 2As shown in , the top surface of the proximal arm 134_1 is positioned a distance h1 below the bottom surface of the guide rail 121 in the vertical direction, and the proximal arm 134_2 is positioned a distance h2 below the guide rail 121 in the vertical direction, so that the height difference Δh=h2-h1 is greater than the height dimension d of the proximal arm 134_1. Therefore, the top surface of the proximal arm 134_2 is positioned lower than the bottom surface of the proximal arm 134_1, so that the proximal arm 134_2 can move under the proximal arm 134_1 without colliding. In some embodiments, this staggering in the vertical position of the manipulator 140 is achieved by configuring the guide rail coupling portion 135 of the manipulator to have different height dimensions from each other. For example, in Figure 1A-Figure 3B , the guide coupling portion 135_1 is a portion of the proximal arm 134_1, and the guide coupling portion 135_2 is a vertically extending member extending downward from the guide rail 121 and coupled to the proximal arm 134_2. In other words, the guide coupling portion 135_2 and the proximal arm 134_2 coupled thereto form an L-shaped portion, wherein in the nested configuration, one leg of the L-shaped portion (i.e., at least a portion of the guide coupling portion 135_2) is vertically oriented, and one leg (i.e., the proximal arm 134_2) is horizontally oriented. This positions the proximal arm 134_2 below the proximal arm 134_1. Although Figure 1B Only two manipulators 140 are shown in a nested configuration, but it should be understood that any number of manipulators 140 may be nested in this manner, for example by providing each successive manipulator 140 with a guide coupling portion 135 that is gradually longer so that the vertical positioning of the proximal arm 134 of the manipulator 140 gradually becomes lower.

[0064] although Figure 1B The proximal arms 134 are shown overlapping each other in the vertical dimension for ease of illustration, but in some embodiments of the system 100, the proximal arms 134 overlap in the horizontal direction. In some of these embodiments, the coupling portion 135 and the proximal arms 134 of one manipulator 140 may form an L-shaped portion, wherein the two legs of the L-shaped portion are horizontally oriented (i.e., in or parallel to the horizontal plane as described above) in a nested configuration. This enables the proximal arms 134 of all manipulators 140 coupled to the same rail 121 to be positioned adjacent to each other and overlap horizontally, while all proximal arms 134 are oriented at an outward angle of 180 degrees or more relative to the rail 121. Fig. 8A and Figure 8BSuch an embodiment of a system including proximal arms 134 that overlap in a horizontal direction is illustrated in , and is further described below. This may be referred to herein as a horizontal nested configuration or horizontal nesting. In embodiments where the proximal arms are horizontally nested, the manipulators may only partially move out of the path of the longitudinally extending sides of the platform assembly because a portion of one of the manipulators may slightly protrude (outward) laterally beyond the longitudinally extending sides of the platform assembly.

[0065] In some embodiments, the proximal arm 134 includes a prismatic joint, which enables the proximal arm 134 to extend and retract. That is, in some embodiments, the proximal arm 134 includes a plurality of links that can translate relative to each other via the prismatic joints to extend or retract the proximal arm 134. In some embodiments, the proximal arm 134 is coupled to an intermediate arm (including one or more links) via a third rotational joint, and the intermediate arm can be coupled to more distal links via additional joints. In some embodiments, the first and / or second rotational joints of the guide coupling portion 135 and / or the prismatic joints of the proximal arm 134 are set joints, meaning that they are set during the preparation procedure to establish the general position and posture of the manipulator 140, but then they generally do not move, and in some embodiments, are mechanically locked and / or locked via software during the execution of the procedure under the control of the user, while more distal joints of the manipulator 140 can move throughout the procedure in response to the user's input.

[0066] In some embodiments, the rail coupling portion 135 of at least one manipulator 140 further includes a second rotational joint (not shown) configured to rotate the attached proximal arm 134 about a second axis 137 parallel to the longitudinal dimension 197 of the rail 121 (see Figure 1A and Figure 4A-4D ) rotation. This rotation allows the proximal arm 134 to tilt or drop relative to the horizontal plane. The horizontal plane is the horizontal dimension 196 (see Figure 2 ) and the longitudinal dimension 197 of the guide rail 121 (see Figure 1A). In some embodiments (e.g., embodiments in which the rails 121 are attached to the platform 110), the horizontal plane is also parallel to the longitudinal dimension 198 and the lateral dimension 199 of the platform assembly 110. In other embodiments (e.g., embodiments in which the rails 121 are attached to the support columns 102), in the neutral state of the platform assembly 110, the horizontal plane may be parallel to the longitudinal dimension 198 and the lateral dimension 199 of the platform assembly 110, but not necessarily in other states. In some embodiments (e.g., embodiments in which the rails 121 are coupled to the support columns 102), the horizontal plane is also parallel to the ground or other supporting surface. In other embodiments (e.g., embodiments in which the rails 121 are coupled to the platform 110), in the neutral state of the platform 110, the horizontal plane is parallel to the ground or other supporting surface, but not necessarily in other states. Tilting the proximal arm 134 may increase the reach of the manipulator 140, e.g., allowing the distal end portion of the manipulator 140 (including the instrument mount) to reach above the platform assembly 110 (and above a patient supported thereon) to reach locations on the longitudinal side of the platform assembly 110 opposite the rail assembly 120. This may allow a manipulator 140 attached to one side of the platform assembly 110 to still reach locations that would normally need to be reached by a manipulator 140 attached to the other side of the platform assembly 110. This may be beneficial when more manipulators 140 are needed on one side of the platform assembly 110 than are available, including, for example, in embodiments where manipulators 140 are provided on only one side of the platform assembly 110.

[0067] FIG. 4A to FIG. 4D Schematically illustrates an embodiment of a system 160 that can be used as system 100. System 160 includes many of the same parts as system 100, so the same reference numerals are used for these parts and repeated descriptions thereof are omitted. System 160 includes manipulator 140, which includes proximal arm 134 and coupling portion 135, as described above (only as described above). Figure 4A-4D 197 ). In system 160, one of the manipulators 140 includes a coupling portion 135_2 having two rotational joints, specifically, a first rotational joint (not visible in the external view of the figure) for rotating the proximal arm 134_2 around a first axis 136_2 perpendicular to the longitudinal dimension 197 of the guide rail 121, and a second rotational joint (not visible in the external view of the figure) for rotating the proximal arm 134_2 around a second axis 137 aligned with the longitudinal dimension 197 of the guide rail 121. Figure 4A The coupling portion 135_2 and the proximal arm 134_2 in a neutral state are illustrated, wherein the proximal arm 134_2 is horizontal (ie, parallel to a horizontal plane defined by the transverse dimension 196 and the longitudinal dimension 197 of the guide rail 121), Figure 4B The coupling portion 135_2 and the proximal arm 134_2 are illustrated in a partially tilted state in which the proximal arm 134_2 has been rotated about the axis 137 such that the proximal arm 134_2 is tilted relative to a horizontal plane. Figure 4C The proximal arm 134_2 is illustrated in the coupling portion 135_2 and in a fully tilted state in which the proximal arm 134_2 has been rotated about the second axis 137 to a point where the proximal arm 134_2 is perpendicular to a horizontal plane. Figure 4D The coupling portions 135_1 and 135_2 at one end portion of the platform assembly 110 and the proximal arms 134_1 and 134_2 in a nested configuration are illustrated. Figure 4A As shown in FIG. 1 , in the neutral position of the manipulator 140, the proximal arm 134_2 is horizontal (extending in a direction generally perpendicular to and away from the longitudinal side 109b of the platform assembly 110), the first axis 136_2 about which the proximal arm 134_2 rotates relative to the coupling portion 135_2 is vertical (perpendicular to the horizontal plane defined by the transverse dimension 196 and the longitudinal dimension 197 of the guide rail 121), but as the proximal arm 134_2 rotates about the second axis 137, the first axis 136_2 changes orientation. Figure 4B and Figure 4C As shown in FIG. 1 , tilting the proximal arm 134_2 by rotating about the second axis 137 increases the height of the distal end portion of the proximal arm 134_2, thereby providing a greater reach to a more distal portion of the manipulator 140 coupled to the proximal arm 134_2.

[0068] like Figure 4A-4D As shown in FIG. 1 , in some embodiments, the coupling portion 135_2 including the first rotation joint and the second rotation joint may include a first part 138 and a second part 139. The first joint and the second joint may be accommodated in the first part 138 and the second part 139. In some embodiments, the first part 138 of the coupling portion 135_2 is connected to the first slide 126 ( Figure 4A-4D Not shown, refer to Figure 1A-1B ) is movably coupled to the guide rail 121, which may be coupled to the first part 138, or may be part of the first part 138. In some embodiments, as Figures 4A-4C, the first part 138 is rotatably coupled to the second part 139 via the above-mentioned second rotation joint, so that the second part 139 can rotate relative to the first part 138 around the second axis 137. In some embodiments, the second part 139 is rotatably coupled to the proximal arm 134_2 via the first rotation joint, so that the proximal arm 134_2 can rotate relative to the second part 139 around the first axis 136_2. In some embodiments, the above-mentioned first and / or second rotation joints of the guide coupling part 135_2 are unpowered joints. In other embodiments, the first and / or second rotation joints of the guide coupling part 135_2 are powered joints driven by an actuator (such as a motor or other actuator familiar to those skilled in the art), which can be positioned inside the guide coupling part 135 and / or in the proximal arm 134. The above-mentioned arrangement of the first part 138 and the second part 139 is only one embodiment, and those of ordinary skill in the art can envision and recognize other arrangements based on the present disclosure. For example, in some embodiments, instead of or in addition to the second part 139 being rotatably coupled to the proximal arm 134_2, the first part 138 may also be rotatable relative to the guide rail 121 around a vertical axis. Furthermore, in some embodiments, the coupling portion 135_2 may include more or fewer parts in addition to or in place of the first part 138 and the second part 139. Any arrangement or parts and joints that at least provide the proximal arm 134_2 with the ability to rotate around the second axis 137 and the first axis 136 perpendicular to the second axis 137 may be used.

[0069] The configuration of the manipulator 140 that allows the manipulator 140 to be nested and thus moved out of the path of the longitudinal side 109b of the platform 110 may also provide other benefits. For example, the structure for nesting the proximal arm 134 may also facilitate easier and / or more compact stowage of the manipulator 140. In embodiments where the proximal arm 134 can be nested vertically in the deployed state, the same structural configuration may also allow the proximal arm 134 to be nested vertically in the stowed state (see Figure 5 , as one embodiment), which can allow the manipulators 140 to be more compactly stowed beneath the platform assembly 110. In other words, in this stowed state, the proximal arms 134 of those manipulators 140 can be oriented at an outward angle of 180 degrees or more relative to the rails 121 (i.e., parallel to the rails 121 or angled to extend in an inward direction toward the middle of the platform 110) and can be vertically overlapped (i.e., the proximal arms 134 are vertically stacked on top of each other). Similarly, in embodiments in which the proximal arms 134 can be horizontally nested in the deployed state, the same structural configuration can also allow the proximal arms 134 to be horizontally nested in the stowed state (not shown).

[0070] Return to Figure 1A-Figure 2 With the system 100, the instrument 150 can be removably mounted to the manipulator 140 via an interface, or can be permanently mounted to the manipulator 140. The instrument 150 can include any tool or instrument, including, for example, industrial instruments and medical instruments (e.g., surgical instruments, imaging instruments, diagnostic instruments, therapeutic instruments, etc.). In embodiments where the instrument 150 is removably mounted to the manipulator 140, the manipulator 140 can include an instrument manipulator mount (not shown) to which the instrument can be removably coupled. The instrument manipulator mount may be located, for example, at a substantially distal end portion of the manipulator 140 and have an interface (not shown) including an output coupler (not shown) to engage (directly or indirectly via an intermediary) with an input coupler (not shown) of the instrument 150 to provide a driving force or other input to the mounted instrument 150 to control various degrees of freedom of movement and / or other functions of the instrument 150, such as moving the end actuator of the instrument, opening / closing the jaws, driving translation and / or rotation of various components of the instrument, delivering substances and / or energy from the instrument, and various other functions familiar to those of ordinary skill in the art. The output coupler may be driven by an actuator familiar to those of ordinary skill in the art (e.g., an electric servo motor, a hydraulic actuator, a pneumatic actuator). An instrument sterile adapter (ISA) may be arranged between the instrument 150 and the instrument manipulator mounting interface to maintain sterile separation between the instrument 150 and the manipulator 140. The instrument manipulator mount may also include other interfaces (not shown), such as electrical interfaces, to provide electrical signals to and / or receive electrical signals from the instrument 150. In some embodiments, the system 100 may also include a flux delivery transmission capability, such as, for example, to supply power, fluid, vacuum pressure, light, electromagnetic radiation, etc. to the end actuator. In other embodiments, such a flux delivery transmission may be provided to the instrument by another auxiliary system 1008, as further described below and will be familiar to those of ordinary skill in the art in the context of computer-assisted teleoperated medical systems.

[0071] In some embodiments, the manipulator 140 can be similar to the manipulators described in U.S. Provisional Patent Application No. 63 / 336,773, entitled “RAIL ASSEMBLY FOR TABLE MOUNTED MANIPULATOR SYSTEM, AND RELATED DEVICES, SYSTEMS AND METHODS,” with inventor Ryan Abbott, and U.S. Provisional Patent Application No. 63 / 336,840, entitled “TABLE-MOUNTED MANIPULATOR SYSTEM, AND RELATED DEVICES, SYSTEMS AND METHODS,” with first inventor Steven Manuel, both filed on April 29, 2022, or similar to, for example, U.S. Patent No. 9,358,074 (filed on May 31, 2013) to Schena et al., entitled “MULTI-PORT SURGICAL ROBOTIC SYSTEM ARCHITECTURE”, U.S. Pat. No. 9,295,524 (filed May 31, 2013) to Schena et al., entitled “REDUNDANT AXIS AND DEGREE OF FREEDOM FOR HARDWARE-CONSTRAINED REMOTE CENTER ROBOTIC MANIPULATOR”, and U.S. Pat. No. 8,852,208 (filed August 12, 2010) to Gomez et al., entitled “SURGICAL SYSTEM INSTRUMENT MOUNTING”, all of which are incorporated herein by reference in their entirety. Various other embodiments of the manipulator may include those configured as part of a medical system, which is a part of various da Surgical systems such as the daVinci commercialized by Intuitive Surgical, Inc. of Sunnyvale, California da Vinci and part of the da Vinci SP system.

[0072] like Figure 1A-Figure 2, the manipulator 140 is coupled to the table assembly 101 via the at least one rail assembly 120. In some embodiments, a plurality of similar rail assemblies 120 are provided, such as one for each longitudinal side of the platform assembly 110. For example, in some embodiments, a first rail assembly 120 may be provided on a first longitudinal side of the platform assembly 110, and a second rail assembly 120 may be provided on a second longitudinal side of the platform assembly 110. In such embodiments having a plurality of rail assemblies 120, the manipulator 140 may be coupled to the rail assemblies 120 in any number or combination, and because the rail assemblies 120 may be positioned along multiple sides of the platform assembly 120, the manipulator 140 may also be positioned along multiple sides of the platform assembly 140. One rail assembly 120 will be described below to simplify the description, but other rail assemblies 120 (if present) may be similarly configured. The rail assembly 120 includes a rail 121 and two or more first carriages 126 (in Figure 1A-Figure 2 In some embodiments, two are shown to allow the manipulator 140 to move along the guide rail 21. More specifically, the first carriage 126 can be coupled to the guide rail coupling portion 135 of the manipulator 140 (or can be a part thereof). Each first carriage 126 can move along the longitudinal dimension 197 of the guide rail 121 and couple a corresponding one of the manipulators 140 to the guide rail 121 so that the manipulator 140 can translate relative to the guide rail 121 along the longitudinal dimension 197 of the guide rail 121. In some embodiments, as Figure 1A As shown in FIG. 1 , in the neutral configuration of the platform assembly 110 , a longitudinal dimension 197 of the guide rail 121 is parallel to a longitudinal dimension 198 of the platform assembly 110 (eg, parallel to the x-axis).

[0073] The guide rail 121 includes a first set of engagement features 122 that are configured to engage with complementary engagement features 128 of the first carriage 126. For example, Figure 2As shown in , the first set of engagement features 122 may include a rail including a flange extending along the longitudinal dimension 197, and the complementary engagement features 128 of the first slide 126 are configured to engage and travel along the flange of the first set of engagement features 122. The first set of engagement features 122 may also include a rail including a groove, wherein the complementary engagement features 128 are received in the groove. Any other type of complementary engagement features that allow relative translation when engaged may be used as complementary engagement features 128, and those of ordinary skill in the art are familiar with various complementary engagement features used in rail and slide systems. In some embodiments, the first set of engagement features 122 and / or the complementary engagement features 128 may include bearing devices configured to reduce friction to facilitate easier translation, such as wheels, balls, sliding bearing surfaces coated or otherwise provided with low friction materials, and other mechanisms to reduce friction. In Figure 1A-Figure 2 , one first carriage 126 is shown for each manipulator 140 , but a plurality of first carriages 126 may be provided to operably couple to and support a given manipulator 140 .

[0074] In some embodiments, in addition to the manipulator 140 being able to move (translate) along the guide rail 121, the guide rail 121 is also able to move relative to the table assembly 101. In such embodiments, the guide rail assembly 120 further includes one or more second carriages 127 coupled to the guide rail 121 and to the table assembly 101 to allow the guide rail 121 to move. More specifically, the one or more second carriages 127 couple the guide rail 121 to the table assembly 101 so that the guide rail 121 can translate relative to the table assembly 101 in the direction of the longitudinal dimension 197 of the guide rail 121. Specifically, as Figure 2 , the guide rail 121 includes a second set of engagement features 123 (e.g., guide rails or other engagement features) that engage with complementary engagement features 129 of a second carriage 127 to couple the guide rail 121 to the second carriage 127 while allowing translation between the guide rail 121 and the second carriage 127. The engagement features 123 and the complementary engagement features 129 can be similar to the engagement features 1212 and the complementary engagement features 128 described above.

[0075] In some embodiments, translation between the rail 121 and the table assembly 101 is provided solely by relative movement between the second carriage 127 and the rail 121. For example, in some embodiments, the second carriage 127 is fixed relative to the table assembly 101, and the rail 121 and the second carriage 127 are movably coupled together such that the rail 121 translates relative to the second carriage 127 in the direction of the longitudinal dimension 197 of the rail 121. In other embodiments, translation between the rail 121 and the table assembly 101 is provided by relative movement between the second carriage 127 and the table assembly 101. For example, in some embodiments, the second carriage 127 is fixed relative to the rail 121 and is movably coupled to the table assembly 101 such that translation of the second carriage 127 relative to the table assembly 101 along the longitudinal dimension 197 causes the rail 121 to also translate relative to the table assembly 101. In some embodiments, translation between the guide rail 121 and the workbench assembly 101 is provided by a combination of relative movement between the second slide 127 and the guide rail 121 and relative movement between the second slide 127 and the workbench assembly 101. In some embodiments in which the second slide 127 is movably coupled to the workbench assembly 101, the guide rail assembly 120 further includes a second guide rail 124 that can be coupled between the second slide 127 and the workbench assembly 101. For example, the second guide rail 124 may include an engagement feature 125 to engage the second slide 127 so that the second slide 127 can translate along the guide rail 124. In other embodiments, the second guide rail 124 is omitted. For ease of description, in Figure 1A-Figure 2 One second carriage 127 is shown in FIG. 1 , but any number of second carriages 127 may be used.

[0076] The movability of the rails 121 relative to the table assembly 101 (in embodiments that provide such movement) can allow for a greater range of motion of the manipulator 140 and / or shorten the rails 121 as compared to configurations in which the rails are fixed relative to the table assembly 101. This can also enable the rail assembly 120 to be more easily moved out of the path of the platform assembly 110 to avoid interference with the platform assembly 110 and / or its various platform segments 103 as they move through various configurations. However, in some embodiments, the rails 121 are fixed relative to the table assembly 101, and the manipulator 140 is positioned relative to the platform assembly 110 solely by movement of the manipulator 140 along the rails 121.

[0077] In some embodiments, the rail assembly 120 is coupled to one of the platform sections 103. In other embodiments, the rail assembly 120 is coupled to the support column 102. In embodiments where the platform assembly 110 as a whole is movable relative to the support column 102 (e.g., tilted relative to the support column 102), the structure to which the rail assembly 120 is coupled may be different. In embodiments where the rail assembly 120 is coupled to one of the platform sections 103 (e.g., the middle section 103_2), when the platform assembly 110 moves relative to the support column 102, the rail assembly 120 and the manipulator 140 coupled thereto move with the platform assembly 110. This can allow the manipulator 140 to automatically maintain a set posture and position relative to the platform assembly 110 and therefore relative to a patient supported on the platform assembly, regardless of the configuration of the platform assembly 110 and without having to reposition the manipulator 140. Furthermore, in some cases, since the platform assembly 110 moves with the rail assembly 120, collisions between the platform assembly 110 and the rail assembly 120 due to the movement of the platform assembly 110 may be avoided. In embodiments where the rail assembly 120 is coupled to the support column 102, when the platform assembly 110 moves relative to the support column 102, the rail assembly 120 and the manipulator 140 coupled to the rail assembly 120 remain with the support column 102 and do not move with the platform assembly 110. This may provide the rail assembly 120 with greater rigidity relative to the base 105 (because there are fewer elements in the kinematic chain) and / or may allow for an increased range of relative motion between the manipulator 140 and the table assembly 110 (because the table assembly 110 may be movable relative to the rail 121 along additional degrees of freedom of motion).

[0078] In some embodiments, a motor or other drive device (not shown, but familiar to those skilled in the art) may also be provided to drive relative translation between the guide rail 121 and the first carriage 126. Similarly, in embodiments in which a second carriage 127 is present, a motor or other actuator device (not shown) may be provided to drive relative translation between the guide rail 121 and the second carriage 127 and / or between the second carriage 127 and the table assembly 101. In some embodiments, the motor / actuator is disposed within the guide rail 121. In some embodiments, the motor / actuator is disposed within the first carriage 126 and / or the second carriage 127.

[0079] Movement of manipulator 140 relative to platform assembly 110 via rail assembly 120 allows coupling portions 135 of manipulator 140 to move adjacent to each other and near an end portion of platform assembly 110 (e.g., near an end portion of rail 121), and when coupling portions 135 are so positioned and manipulator 140 is placed in the nested configuration described above, a distal portion of manipulator 140 extends beyond the end of platform assembly 110 and is positioned near side 109a of platform assembly 110 when deployed. Figures 1A to 4D In some embodiments, the manipulator 140 is configured to move beyond the foot end of the platform assembly 110 in the nested configuration when deployed. In other embodiments, the manipulator 140 can move beyond the head end of the platform assembly 110, and in still other embodiments, the manipulator 140 can move beyond the head end and the foot end, respectively.

[0080] Back to Figure 1A , the user input and feedback system 1004, the control system 1006 and the auxiliary system 1008 will be described. Some or all of these components can be provided at a location away from the workbench assembly 101. The user input and feedback system 1004 is operably coupled to the control system 1006 and includes one or more input devices to receive input control commands to control the operation of the manipulator 140, the instrument 150, the guide rail assembly 120 and / or the workbench assembly 101. Such input devices may include, but are not limited to, for example, telepresence input devices, triggers, grip input devices, buttons, switches, pedals, joysticks, trackballs, data gloves, trigger guns, gaze detection devices, voice recognition devices, body motion or presence sensors, touch screen technology or any other type of device for recording user input. In some cases, the input devices can provide the same degrees of freedom as the associated instruments they control, and when the input devices are actuated, the instruments are controlled to follow or imitate the movement of the input devices through the drive input from the manipulator assembly, which can provide the user with a sense of direct control of the instrument. The telepresence input device can provide the operator with a sense of telepresence, meaning that the input device is integrated with the instrument. The user input and feedback system 1004 may also include feedback devices, such as a display device (not shown) for displaying an image (e.g., an image of a workspace captured by one of the instruments 1010), a tactile feedback device, an audio feedback device, other graphical user interface forms of feedback, and the like.

[0081] The control system 1006 can control the operation of the system 100. Specifically, the control system 1006 can send control signals (e.g., electrical signals) to the workbench assembly 101, the guide rail assembly 120, the manipulator 140 and / or the instrument 150 to control the movement and / or other operations of each part. In some embodiments, the control system 1006 can also control some or all operations of the system 1004, the auxiliary system 1008 or other parts of the system 100. The control system 1006 may include an electronic controller to control and / or assist the user in controlling the operation of the manipulator assembly 1001. The electronic controller includes a processing circuit configured with logic for performing various operations. The logic of the processing circuit may include dedicated hardware for performing various operations, software (machine-readable and / or processor-executable instructions) for performing various operations, or any combination thereof. In an instance where the logic includes software, the processing circuit may include a processor for executing software instructions and a storage device for storing software. The processor may include one or more processing devices capable of executing machine-readable instructions, such as, for example, a processor, a processor core, a central processing unit (CPU), a controller, a microcontroller, a system on a chip (SoC), a digital signal processor (DSP), a graphics processing unit (GPU), etc. In the case where the processing circuit includes dedicated hardware, in addition to or instead of the processor, the dedicated hardware may include any electronic device configured to perform specific operations, such as an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a complex programmable logic device (CPLD), a discrete logic circuit, a hardware accelerator, a hardware encoder, etc. The processing circuit may also include any combination of dedicated hardware and a processor plus software.

[0082] Different degrees of user control and autonomous control can be used in the system 100, and the embodiments disclosed herein can cover systems that are fully user-controlled, fully autonomously controlled, and systems with any combination of user control and autonomous control. For user-controlled operations, the control system 1006 generates control signals in response to receiving corresponding user input commands via the user input and feedback system 1004. For autonomously controlled operations, the control system 1006 can execute pre-programmed logic (e.g., software programs) and can determine and send control commands according to programming (e.g., in response to detected states or stimuli specified in programming). In some systems, some operations can be controlled by the user, while other operations are controlled autonomously. In addition, some operations can be partially controlled by the user and partially autonomously controlled-for example, a user input command can initiate the execution of a series of events, and then the control system 1006 can perform various operations related to the sequence without further user input.

[0083] In some embodiments, the control system 1006 can drive the actuators that move the manipulator 140, the rail assembly 120, and / or the table assembly 101 by sending electrical signals to control the position of the manipulator 140 and the position or configuration of the rail assembly 120 and / or the table assembly 101. In some embodiments, the control system 1006 can determine a predetermined task to be performed, such as transferring a patient to the table assembly 101, and in response can automatically drive the manipulator 140 and / or the rail assembly 120 to move the coupling portion 135 of the manipulator 140 to one end of the platform assembly 110, and then drive the manipulator 140 to move into the nested configuration. Driving the manipulator 140 to move into the nested configuration may include driving the one or more rotational joints in the coupling portion 135 to rotate the proximal arm 134 of the manipulator 140 to an outward angle of at least 180 degrees relative to the rail 121, and adjusting other joints of the manipulator 140 to obtain a desired posture of the manipulator 140. For example, the desired posture may be one in which the manipulator 140 is positioned completely out of the path of the longitudinal side 109b of the platform assembly 110. The control system 1006 may determine whether a predetermined task will occur by, for example, detecting one or more sensor signals (e.g., sensing the proximity of the gurney to the table assembly 101 by sensing wireless signals emitted by devices on the gurney) and / or by receiving input, commands or other signals from a user interface indicating that a task is to be performed (e.g., a user pressing a button associated with starting a task).

[0084] The auxiliary system 1008 may include various auxiliary devices that may be used for the operation of the system 100. For example, the auxiliary system 1008 may include a power supply unit, auxiliary functional units (e.g., functions such as irrigation, drainage, energy supply, lighting, sensors, imaging, etc.). As an example, in a system 100 for a medical procedure environment, the auxiliary system 1008 may include a display device for use by medical personnel assisting the procedure, while a user operating an input device may use a separate display device as part of the user input and feedback system 1004. As another example, in a system 100 for a medical environment, the auxiliary system 1008 may include a flux supply unit that provides surgical flux (e.g., power) to the instrument 150. Therefore, the auxiliary system 1008 used herein may cover a variety of components and need not be provided as an integral unit.

[0085] Now go to Figure 5-7D, another embodiment of a workbench mounted manipulator system 200 ("system 200") is described below. System 200 may be used as system 100, and some components of system 200 may be used as components of the above-described system 100. Therefore, the above description of the components of system 100 is applicable to the relevant components of system 200, and repeated description of these components is omitted below. The relevant components of systems 100 and 200 are given figure numbers having the same rightmost two digits—for example, 105 and 205. Although system 200 is one embodiment of system 100, system 100 is not limited to system 200.

[0086] like Figure 5-7D As shown in , system 200 includes a table assembly 201, two rail assemblies 220 coupled to the table assembly on opposite longitudinal sides, and a plurality of manipulators 240 coupled to the rail assemblies 220. Each manipulator 240 is configured to carry one or more instruments (not shown) removably or permanently mounted thereon. System 200 may also include a control system (not shown), a user input and feedback system (not shown), and / or an auxiliary system (not shown) similar to those described above with respect to system 100. In some embodiments, system 200 is configured as a computer-assisted, remotely operable medical system. In other embodiments, system 200 is configured as a remotely operable system for use in a non-medical environment.

[0087] like Figure 5 and Figure 6 As shown in , the table assembly 201 includes a platform assembly 210 (also referred to as "platform 210") configured to support a patient or inanimate workpiece, a support column 202 coupled to and supporting the platform assembly 210, and a base 205 coupled to the support column 202. The base 205 can be configured to contact the ground or other surface on which the table assembly 201 is placed, and in some embodiments, the base 205 includes wheels 206 to allow the system 200 to move along the ground or other surface. Figure 6 As shown in FIG. 2 , in some embodiments, support columns 202 include telescoping support columns that can raise or lower platform assembly 210 .

[0088] The platform assembly 210 includes a plurality of platform segments 203 configured to support a patient or a workpiece. Figure 5-7DIn the embodiment illustrated in FIG. 2 , the platform assembly 210 includes a first end segment 203_1 (“head segment 203_1”), middle segments 203_2 and 203_3, and a second end segment 203_4 (“foot segment 203_4”) arranged in series and movably coupled together via a joint 207. In some embodiments, the first end segment 203_1 can be configured to support the patient's head, the second end segment 203_4 can be configured to support the patient's feet and / or legs, and more middle segments 203_2 and 203_3 can be configured to support the patient's torso and / or other parts. The joint 207 allows adjacent platform segments 203 to pivot relative to each other around a rotation axis parallel to the transverse dimension 299 of the platform assembly 210 (e.g., parallel to the y-axis in the figure). Figure 5 The platform assembly 210 is illustrated in a neutral configuration, wherein all platform segments 203 are parallel to each other, and Figure 6 The platform assembly 210 is illustrated in an articulated configuration, wherein some of the platform segments 203 are oriented at a non-zero angle relative to adjacent platform segments 203. In some embodiments, some of the joints 207 may also allow other motions between adjacent platform segments 203, such as relative translation along the longitudinal dimension 298 or relative rotation about a vertical axis parallel to the height dimension (i.e., the z-axis in the figure), the vertical axis being perpendicular to the transverse dimension 299 and the longitudinal dimension 298. In some embodiments, the platform segment 203 includes a relatively stiff support portion 203b and a relatively soft pad portion 203a attached to the support portion 203b, wherein the surface of the pad portion 203a (i.e., Figure 5 and 6 In some embodiments, multiple platform sections 203 may share some components. For example, Figure 5 As shown in the example, the intermediate platform segments 203_2 and 203_3 may share the same pad portion 203a, which extends across the platform segments 203_2 and 203_3. Figure 6 As shown in FIG. 2 , when the platform segments 203_2 and 203_3 are articulated relative to each other, the pad portion 203a common to the platform segments 203_2 and 203_3 may bend.

[0089] In addition to moving individual platform segments 203 relative to adjacent platform segments 203, the platform assembly 210 as a whole can move relative to the support column 202. In some embodiments, the middle segment 203_3 is coupled to the support column 202 by one or more joints (not shown), thereby providing movement between the middle segment 203_3 and the column 202. The other platform segments 203_1, 203_2, and 203_4 are coupled (directly or indirectly) to the middle segment 203_3, so that when the middle segment 203_3 moves relative to the support column 202, the platform assembly 210 as a whole moves relative to the support column 202. In some embodiments, such as Figure 6 As shown in FIG. 2 , the movement of the middle section 203_3 (and the entire platform assembly 210) relative to the support column 202 includes pivoting (tilting) about a horizontal axis parallel to the transverse dimension 299 (e.g., the pitch degree of freedom of movement). In some embodiments, other degrees of freedom of movement are provided between the middle section 203_3 and the support column 202, including pivoting (tilting) about a horizontal axis parallel to the longitudinal dimension 298 (e.g., the flip degree of freedom of movement), rotating about a vertical axis (e.g., the yaw degree of freedom of movement), and / or translating along the transverse dimension 299 and / or the longitudinal dimension 298. Figure 6 As shown in FIG. 2 , in the neutral configuration of platform assembly 210 , platform assembly 210 is parallel to the ground (or other surface upon which system 200 rests)—specifically, the support surface of platform segment 203 is parallel to the ground (or other surface).

[0090] like Figure 5-7D As shown, the platform assembly 210 also includes a plurality (one or more) of accessory rails 204 attached to the sides of the support portion 203 b of the platform section 203 .

[0091] As described above, system 200 includes a plurality of manipulators 240. Figure 5 In the illustrated embodiment, there are four manipulators 240, with two manipulators 240 on each longitudinally extending side of the platform assembly 210. In other embodiments, more or fewer manipulators 240 may be used. Figure 5 and Fig.7D In FIG. 2 , the manipulator 240 is shown in a retracted state below the end section 203_4, while Figure 6-7C , the manipulator 240 is shown in various deployment states (in Figure 6-7D Only two manipulators 240 disposed on one side of the platform assembly 210 are visible, and Figure 6The deployed state includes a state in which the manipulator 240 is not stowed, such as when the distal end of the manipulator 240 is positioned at or above the level of the platform assembly 110, and may include various configurations and positions of the manipulator 240, including but not limited to Figure 6-7C Configuration and position shown in .

[0092] like Figure 5-7D As shown, the manipulator 240 is coupled to the table assembly 201 via a guide rail assembly 220. A guide rail assembly 220 is provided on each of the two longitudinally extending sides of the platform assembly 210. The following description only describes a single guide rail assembly 220 for ease of description, and another guide rail assembly 220 may be similarly configured. Figure 5 and Figure 6 As shown in FIG. 1 , the guide rail assembly 220 includes a movable guide rail 221 (“guide rail 221”), a first carriage 226 coupled to the guide rail 221 and the manipulator 240 (at least one first carriage 226 for each manipulator 240), and one or more second carriages 227 coupled to the guide rail 221 and the table assembly 201 (see FIG. 1 ). Figure 6 ).exist Figure 5-7D In the illustrated embodiment, the rail 221 is movably coupled to the platform 210 via the engagement features 223 such that the rail 221 translates along the longitudinal dimension 298 of the platform 210 and moves with the platform 210 relative to the support column 202 .

[0093] Each first carriage 226 couples a respective one of the manipulators 240 to the rail 221 so that the manipulator 250 can translate relative to the rail 221 along the longitudinal dimension 297 of the rail 221. Specifically, each first carriage 226 includes a complementary engagement feature that couples with the engagement feature 222 of the rail 221. Each first carriage 226 is coupled to a coupling portion 235 (or a portion thereof) of a corresponding manipulator 240. The coupling portion 235 is coupled to a corresponding proximal arm 234 (or a portion thereof). Each proximal arm 234 includes one or more links and is coupled to more distal portions of the manipulator 240, which may include, for example, an intermediate arm 242, a distal arm 243, an instrument manipulator mount 241 configured to receive an instrument detachably mounted thereon, and a plurality of joints 245 that movably couple the respective arms of the distal portion together. The instrument manipulator mount 241 includes an interface with an output coupler to transmit actuation force or other input to the instrument. In some embodiments, the proximal arm 234 and / or the intermediate arm 242 are telescopic arms, in which case the proximal arm 234 and / or the intermediate arm 242 can each include a plurality of links that can translate relative to each other.

[0094] like Figure 6As shown in FIG. 2 , the height dimension of the coupling portion 235_2 of one manipulator 240 is longer than the height dimension of the coupling portion 235_1 of another manipulator 240 coupled to the same guide rail 221, and therefore, the proximal arm 234_2 coupled to the coupling portion 235_2 is positioned lower than the proximal arm 234_1 in the vertical direction (the z-axis direction in the figure). The height difference between the proximal arm 234_1 and the proximal arm 234_2 is large enough so that the proximal arm 234_2 can move under the proximal arm 234_1 without colliding, thereby allowing the manipulators 240 to be placed in a vertical nested configuration similar to the vertical nested configuration described above with respect to the system 100. For example, Figure 7B , Fig. 9 and Fig.10 The manipulator 240 is illustrated in a deployed and nested configuration, and Fig.7D The manipulator 240 is illustrated in a collapsed and nested configuration. Figure 7B , Fig. 9 and Fig.10 , in the nested configuration, the proximal arms 234 of the manipulators 240 coupled to the same rail 221 are oriented at an outward angle of 180 degrees or more relative to the longitudinal dimension 297 of the rail 221 and vertically overlap each other (i.e., in a direction perpendicular to the transverse dimension 296 and the longitudinal dimension 297 of the rail 221). For example, in Fig. 9 In the embodiment, the proximal arm 234_1 is at an outward angle greater than 180 degrees relative to the guide rail 221. And the arm 243_2 is at an outward angle equal to 180 degrees relative to the guide rail 221 When the manipulator is in the deployed state and nested configuration, such as Figure 7B , Fig. 9 and Fig.10 As shown in FIG. 2 , the distal portion of the manipulator (eg, intermediate arm 242, distal arm 243, and instrument support 241) is swung about one end of platform 210 to a position along laterally extending side 209a, rather than along longitudinally extending side 209b.

[0095] like Figure 6 As shown in FIG. 2 , the coupling portion 235_2 includes a first part 238 and a second part 239, similar to Figure 4A-4D2. The proximal arm 234_2 is rotatably coupled to the second part 239 via a first rotation joint (not visible), so that the proximal arm 234_2 can rotate around a first axis 236, and the first axis 236 is perpendicular to the proximal arm 234_2 (i.e., vertical when the proximal arm 234_2 is horizontal). The second part 239 is rotatably coupled to the first part 238 via a second rotation joint (not visible), so that the second part 239 can rotate around a second axis 237, and the second axis 237 is perpendicular to the first axis 236 and parallel to the longitudinal dimension 297 of the guide rail 221. The first part 238 is coupled to the first slide 226 (or the first slide 226 is a part of the first part 238). As described above with respect to Figure 4A-4D As described above with respect to the coupling portion 135_2 , the multiple rotational joints of the coupling portion 235_2 allow the proximal arm 234_2 to tilt or drop relative to a horizontal plane, which can increase the range of motion of the more distal portion of the manipulator 240 .

[0096] In addition, each second carriage 227 couples the rail assembly 220 to the platform assembly 210 (eg, to the intermediate section 203_3) such that the rail 221 can translate relative to the platform assembly 210 and the support column 202 along the longitudinal dimension 297 of the rail 221. Figures 5 to 7D In the embodiment, since the guide rail assembly 220 is coupled to the platform middle section 203_3, the longitudinal dimension 297 of the guide rail 221 is parallel to the longitudinal dimension 298 of the platform assembly 210 regardless of how the platform assembly 210 is moved or oriented relative to the support column 202.

[0097] The one or more second carriages 227 couple the guide rail 221 to the workbench assembly 201, specifically, in FIG. Figure 5 In the embodiment of the D example, the guide rail 221 is coupled to the intermediate portion 203_3 so that it can translate relative to the platform assembly 210 and the support column 202 in the direction of the longitudinal dimension 297 of the guide rail 221. This translation between the guide rail 221 and the platform assembly 210 and / or the support column 202 is provided at least in part by the translation of the guide rail 221 relative to the second carriage 227. Since the second carriage 227 is attached to the platform assembly 110, the relative translation between the second carriage 227 and the guide rail 221 causes the guide rail 221 to translate relative to the platform assembly 210 (i.e., when the reference frame is fixed to the platform assembly 210 or the ground, the second carriage 227 is considered to be stationary and the guide rail 221 is considered to be translating).

[0098] FIG. 7A to FIG. 7D Various configurations of the platform assembly 210 and the rail assembly 220 are shown, illustrating the range of motion provided by the rail assembly 220 and the various ranges of motion of the platform assembly 210 in some embodiments. Fig. 7AIn the embodiment, the second carriage 227 is positioned in the middle portion of the guide rail 221, so that the guide rail 221 is located near the middle sections 203_2 and 203_3 of the platform assembly 210, wherein a portion of its length extends to the vicinity of the section 203_4. Fig. 7A , platform assembly 210 is in a neutral position with manipulator 240 in a deployed state.

[0099] exist Figure 7B In the second carriage 227 (in Figure 7B (not visible in FIG) is positioned at the head end portion of the guide rail 221 so that the guide rail 221 is Fig. 7A Translated to the right and located near the foot end portion of the platform 210 (below the middle section 203_3 and the foot section 203_4). Figure 7B Also illustrated is an optional descending and tilting configuration in which the intermediate section 203_2 can be placed on the guide rail 221 (the descending configuration is illustrated in dashed lines). Figure 7B In the configuration of, the positioning of the guide rail assembly 220 allows the first end section 203_1 to be lowered and tilted relative to the middle section 203_2 (not shown), and / or as Figure 7B The example allows the middle section 203_2 to drop and tilt relative to the middle section 203_3 without interfering with (colliding with) the rail assembly 220. In addition, using the rail 221 in the example configuration, additional space is opened up below the first end section 203_1 and / or the middle section 203_2, which allows other equipment (such as C-arms, X-ray equipment, etc.) to be positioned near and / or below those sections 203. In addition, in this configuration of the rail assembly 220, the first slide 226 can be positioned at the end of the platform 210 (for example, Figure 7B When the proximal arm 234 is rotated into the nested configuration, the more distal portion of the manipulator 240 (e.g., the intermediate arm 242, the distal arm 243, and the instrument support 241) can swing around the foot end of the platform assembly 210 (i.e., beyond the foot segment 203-4), so that the manipulator 240 is positioned along the laterally extending side 209a of the platform rather than along the longitudinally extending side 209b, as shown. Figure 7B , Fig. 9 and Fig.10 This allows the manipulator 240 to be positioned out of the path of operations that require space along the longitudinally extending side 209b of the platform assembly 210, such as operations to transfer a patient from a gurney to the platform assembly 210. For example, Fig. 9 A state in which the wheel bed 270 is positioned near the longitudinally extending side 209b of the platform assembly 210 is illustrated. Fig. 9, because the manipulator 240 is moved to a position along the laterally extending side 209a in the nested configuration, the gurney 270 is able to fit snugly against the platform assembly 210 flush with the longitudinally extending side 209b of the platform assembly 210 without interference from the manipulator 240. Additionally, such positioning of the manipulator 240 may allow for open space along the opposing longitudinally extending sides 209b, as well as space around the head and / or foot of the table assembly 201, which may allow personnel to be positioned around the platform 210 to assist in transferring a patient from the gurney 270 to the platform 210 without fear of collision with the manipulator 240.

[0100] exist Figure 7C , the second carriage 227 is positioned at the right end portion of the guide rail 221 so that the guide rail 221 is close to the left end portion of the platform assembly 210. This configuration of the guide rail assembly 220 allows the second end section 203_4 to tilt relative to the middle section 203_3 without colliding with the guide rail assembly 220. Figure 7C Also illustrated is the second end section 203_4 in a descending and neutral configuration.

[0101] exist Fig.7D , the tilted (dashed lines) and lowered (solid lines) configurations of the platform assembly 210 as a whole are illustrated. These configurations can be achieved by rotating the intermediate section 203_3 relative to the support column about an axis parallel to the transverse dimension 299. Fig.7D As shown in , in these embodiments, because the guide rail assembly 220 is attached to the platform assembly 210, the guide rail assembly 220 and the manipulator 240 move with the platform assembly 210. In other embodiments (not shown), the guide rail assembly 220 can be attached to the support column 202.

[0102] Thus, the rail assembly 220 provides a wide range of motion for the manipulator 240, which can allow the manipulator 240 to be positioned at nearly any position along the longitudinal dimension 298 of the platform assembly 210, including beyond the head end or foot end of the platform assembly (i.e., beyond the lateral extension sides) so as to clear the entire longitudinal dimension 298 of the platform assembly 210. Furthermore, the rail assembly 220 not only provides a wide range of motion for the manipulator 240, but the rail assembly 220 does so while minimizing interference between the rail assembly 220 and the platform assembly 210, personnel, and other equipment. Specifically, the rail assembly 220 can be moved between different positions based on the configuration of the platform assembly 210 and / or the needs of a particular operation, so that the rail 221 is positioned out of the path of portions of the platform assembly 210, personnel, or other equipment as desired.

[0103] The staggered vertical heights of the proximal arms 234 of the manipulator 240 allow the proximal arms 234 to be vertically nested in the deployed state, which may also provide additional benefits. For example, the staggered vertical heights of the proximal arms 234 facilitate easier and / or more compact stowage of the manipulator 240. For example, Figure 5 , the staggered heights of the proximal arms 234 allow them to be oriented at an outward angle of 180 degrees relative to the rails 221 and vertically overlapped in the stowed state. This prevents the manipulator 240 from protruding laterally beyond the longitudinal sides of the platform 210 when stowed, thereby allowing the entire table assembly 201 to be more easily stored and / or moved when the manipulator 240 is stowed.

[0104] Now go to Fig. 8A and Figure 8B , an embodiment of a workbench mounted manipulator system 300 ("system 300") is described below. System 300 may be used as system 100, and some components of system 300 may be used as components of the above-described system 100. Therefore, the above description of the components of system 100 is applicable to the relevant components of system 300, and repeated description of these components is omitted below. The relevant components of systems 100 and 300 are given figure numbers having the same rightmost two digits—for example, 110 and 310. Although system 300 is one embodiment of system 100, system 100 is not limited to system 300.

[0105] like Fig. 8A and Figure 8B As shown in FIG. 1 , system 300 includes a table assembly 301, a rail assembly 320 coupled to the table assembly, and a plurality of manipulators 340 coupled to the rail assembly 320. Table assembly 301 includes a platform assembly 310 (also referred to as “platform 310”) configured to support a patient or an inanimate workpiece, a support column 302 coupled to and supporting the platform assembly 310, and a base (not shown) coupled to the support column 302. The platform assembly 310, the rail assembly 320, the support column 302, and the base may be similar to those described above with respect to Figure 1A-Figure 2 The corresponding components described are similar, so repeated descriptions are omitted. System 300 may also include a control system (not shown), a user input and feedback system (not shown), and / or an auxiliary system (not shown) similar to those described above with respect to system 100. In some embodiments, system 300 is configured as a computer-assisted, remotely operated medical system. In other embodiments, system 300 is configured as a remotely operated system for non-medical environments.

[0106] Each manipulator 340 is configured to carry one or more instruments (not shown) that may be removably or permanently mounted thereon. Fig. 8A and Figure 8B, only the proximal portion of the manipulator 340 is illustrated. The proximal end portion of the manipulator 340 includes a proximal arm 334, which is coupled to the guide rail 321 of the guide rail assembly 320 via a coupling portion 335. The coupling portion 335 can be a part of the proximal arm 334, or can be a separate part coupled to the proximal arm 334. The coupling portion 335 may include one or more joints (not shown) to enable the proximal arm 334 to move relative to the guide rail 321, including at least a first rotation joint, the first rotation joint being configured to allow the proximal arm 334 to move around such as Fig. 8A and 8B 396 and 397 of the guide rail 321; in some embodiments, the transverse dimension 396 and the longitudinal dimension 397 of the guide rail 321 are parallel to the transverse dimension 398 and the longitudinal dimension 399 of the platform assembly 310. The coupling portion 335 is movably coupled to the guide rail 321 (e.g., via a first slide, not shown) to allow it to translate along the longitudinal dimension 397 of the guide rail 321. The proximal arm 334 is configured to extend horizontally (parallel to the horizontal plane defined by the transverse dimension 396 and the longitudinal dimension 397 of the guide rail 321). The coupling portion 335 includes a rotation joint that is configured to rotate the proximal arm 334 relative to the guide rail 321 about the axis 336.

[0107] Fig. 8A The system 300 is illustrated in a state where the manipulator 340 is deployed and positioned along the longitudinal side 309b of the platform assembly 310. Figure 8B , the coupling portion 335 of the manipulator 340 has moved to the vicinity of the end portion (e.g., the foot end) of the platform assembly 310, and its proximal arms 334 have rotated about their respective axes 336 to bring the proximal arms 334 into the nested configuration. Specifically, the proximal arms 334_1 are rotated to an outward angle equal to or greater than 180 degrees. and the proximal arm 334_2 is rotated to an outward angle equal to 180 degrees However, with Figures 3A-7D Unlike the embodiment exemplified in FIG. 3 , in which the nested configuration is included in a vertical nested configuration, in system 300, the nested configuration includes a horizontal nested configuration, in which the proximal arms 334 of two adjacent manipulators 340 are arranged side by side and overlap each other in the horizontal direction, specifically in a direction aligned with the lateral dimension 396 of the guide rail 321 ( Figure 8B The y-axis direction in the figure) overlaps each other, and in some embodiments, this direction is also parallel to the lateral dimension 398 of the platform assembly 310.

[0108] To achieve horizontal nesting of the proximal arms 334 as described above, one of the coupling portions 335 can be configured to offset the proximal arm 334 coupled thereto away from the rotation axis 336. Fig. 8A and Figure 8B As shown in , the coupling portion 335_2 includes an L-shaped bend 249, which causes the proximal arm 334_2 to be offset from the axis 336. In other words, the coupling portion 335_2 extends a certain distance from the axis 336 in a direction different from (e.g., perpendicular to) the extension direction of the proximal arm 334_2, and then rotates (at the bend 249) to begin extending in the direction of the proximal arm 334_2. Because the proximal arm 334_2 is offset from the axis 336, when the proximal arm 334_2 is rotated to be parallel to the longitudinal dimension 397 of the guide rail 327, then in this state, the proximal arm 334_2 is laterally offset relative to the guide rail 221, rather than aligned with the guide rail 221. This allows the proximal arm 334_2 to be positioned near the proximal arm 334_1 and horizontally overlap the proximal arm 334_1, as shown in FIG. Figure 8B 309a of the platform assembly 310, thereby freeing up some space along the longitudinally extending side 309b of the platform assembly 310. However, because the proximal arm portion 334_2 is horizontally offset from the guide rail 221 in this state, the proximal arm portion 334_2 does protrude slightly laterally beyond the guide rail 221 (outward). Therefore, while horizontal nesting can beneficially allow for more space along the longitudinally extending side 309b, in Fig. 8A and Figure 8B In embodiments, unlike some embodiments described above that provide vertical nesting and allow the longitudinally extending sides of the platform assembly to be completely clear, the longitudinally extending sides 309b of the platform assembly 310 in the nested configuration may not be completely clear of all obstacles. Nevertheless, the partial clearance of the longitudinally extending sides 309b of the platform assembly 310 provided by horizontal nesting may be sufficient for certain tasks. For example, some gurneys may have relatively open areas arranged at specific portions thereof (e.g., below the foot end thereof), and when the gurney is placed near the platform assembly 310, these open areas may be aligned with the partially protruding proximal arm portion 334_2, so that despite the partial protrusion of the proximal arm portion 334_2, the gurney can still be flush or nearly flush with the platform assembly 310.

[0109] As described above, the embodiments described herein are well suited for any of a variety of medical procedures. Such procedures may be performed on, for example, human patients, animal patients, human cadavers, animal cadavers, and portions of human or animal anatomical structures. The medical procedures contemplated herein include any of the procedures described herein, and include non-surgical diagnosis, cosmetic procedures, imaging of human or animal anatomical structures, data collection from human or animal anatomical structures, training of medical or non-medical personnel, and procedures performed on tissue removed from human or animal anatomical structures (without returning to the human or animal anatomical structures). Even if applicable to such medical procedures, the embodiments may be used for benchtop procedures in the form of non-living materials and portions of non-human or animal anatomical structures. In addition, some embodiments are also suitable for non-medical applications, such as industrial robot uses and sensing, inspection, and / or manipulation of non-tissue artifacts. In non-limiting embodiments, the techniques, methods, and devices described herein may be used for or may become part of a computer-assisted surgical system employing robotics, such as a da-computer-assisted surgical system commercialized by Intuitive Surgical, Inc. of Sunnyvale, California. However, those skilled in the art will appreciate that the aspects disclosed herein may be embodied and implemented in a variety of ways and systems including manually operated instruments and computer-assisted teleoperated systems for medical and non-medical applications. Reference to surgical systems is by way of example only and should not be considered limiting of the scope of this disclosure.

[0110] As used herein and in the claims, terms such as computer-assisted manipulator systems, remotely operable manipulator systems, etc. should be understood to refer broadly to any system including one or more controllable kinematic structures ("manipulators") that can be moved and controlled at least in part with the assistance of an electronic controller (with or without human input). Such systems are sometimes referred to and commonly used in the art as robot-assisted systems or robotic systems. Such systems include systems that are controlled by a user (e.g., by remote operation), automatically controlled by a computer (so-called autonomous control), or controlled by some combination of these systems. In instances where the user controls at least some operations of the manipulator, an electronic controller (e.g., a computer) can facilitate or assist the operation. The term "computer" used in "computer-assisted manipulator system" broadly refers to any electronic control device used to control or assist a user in controlling the operation of the manipulator, and is not limited to objects formally defined as or colloquially referred to as "computers." For example, the electronic control devices in a computer-assisted manipulator system can range from a traditional "computer" (e.g., a general-purpose processor plus a memory that stores instructions for execution by the processor), to a low-level special-purpose hardware device (analog or digital), such as a discrete logic circuit or an application-specific integrated circuit (ASIC), or anything in between. Further, the manipulator system can be implemented in a variety of environments to perform a variety of procedures, including medical and non-medical procedures. Therefore, although some of the examples described in more detail herein may focus on a medical environment, the devices and principles described herein may also be applicable to other environments, such as industrial manipulator systems.

[0111] It should be understood that both the general description and the detailed description provide exemplary embodiments that are illustrative in nature and are intended to provide an understanding of the present disclosure without limiting the scope of the present disclosure. Various mechanical, compositional, structural, electrical and operational changes may be made without departing from the spirit and scope of the present specification and claims. In some cases, well-known circuits, structures and techniques are not shown or described in detail to avoid obscuring the embodiments. The same numbers in two or more figures represent the same or similar elements.

[0112] Further, the terms used herein to describe various aspects of the present invention (such as spatial terms and relational terms) are selected to help the reader understand the exemplary embodiments of the present invention, but are not intended to limit the present invention. For example, as illustrated in the accompanying drawings, spatial terms (such as "below", "below", "lower", "above", "above", "proximal", "distal", "up", "down", etc.) may be used herein to describe the direction or spatial relationship of one element or feature to another element or feature. These spatial terms are used relative to the accompanying drawings and are not limited to a specific reference system in the real world. Therefore, for example, the "up" direction in the accompanying drawings does not necessarily correspond to "up" in the world reference system (e.g., away from the surface of the earth). In addition, if a reference system different from the reference system illustrated in the accompanying drawings is considered, the spatial terms used herein may need to be interpreted differently in different reference systems. For example, the direction "up" referred to in a figure in the accompanying drawings may correspond to the direction "down" referred to in a different reference system rotated 180 degrees from the reference system of the accompanying drawings. As another example, an item described herein as being "above" or "on" a second item with respect to a drawing would be "below" or "under" the second item with respect to the world reference system if the device is rotated 180 degrees in the world reference system as compared to that illustrated in the drawing. Thus, different spatial terms may be used to describe the same spatial relationship or direction depending on the reference system under consideration. Furthermore, the poses of the items illustrated in the drawings are selected for ease of illustration and description, but in actual implementation, the poses of the items may be different.

[0113] In addition, unless the context indicates otherwise, the singular forms "a", "an", and "the" are also intended to include the plural forms. Also, the terms "comprises, comprising", "including", etc. specify the presence of stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups. Unless otherwise specifically stated, components described as coupled may be directly coupled electrically or mechanically, or they may be indirectly coupled via one or more intermediate components. Mathematical and geometric terms are not intended to be used necessarily in accordance with their strict definitions unless the context of the specification indicates otherwise, as one of ordinary skill in the art would understand that, for example, substantially similar elements that function in a substantially similar manner would easily fall within the scope of a descriptive term, even if the term also has a strict definition.

[0114] The elements and related aspects described in detail with reference to one embodiment may be included in other embodiments where they are not specifically shown or described. For example, if an element is described in detail with reference to one embodiment but not with reference to a second embodiment, the element may still be required to be included in the second embodiment.

[0115] As used herein, "proximal" and "distal" are spatial / directional terms used to describe a position or direction based on its relationship to the two ends of a kinematic chain. "Proximal" relates to the end of the kinematic chain that is closer to the chain base or support, while "distal" relates to the opposite end of the kinematic chain, which often includes the end actuator of the instrument. When used to refer to a position or part of a component, proximal and distal indicate the relative position of the position or part relative to the chain base, where the proximal position or part is closer to the base (here, closer refers to the proximity along the kinematic chain, not the absolute distance). When used to refer to a direction, "proximal" refers to a direction generally from a given position along the kinematic chain toward a more proximal position along the kinematic chain, while "distal" refers to a direction from a given position along the kinematic chain toward a more distal position.

[0116] In view of the disclosure herein, further modifications and alternative embodiments will be obvious to those of ordinary skill in the art. For example, the apparatus and method may include additional components or steps omitted in the diagrams and descriptions for operational clarity. Therefore, this description should only be interpreted as exemplary, and is intended to teach those skilled in the art the general manner of implementing this teaching. It should be understood that the various embodiments shown and described herein should be considered exemplary. Elements and materials and the arrangement of those elements and materials can replace the elements and materials shown and described herein, parts and processes can be reversed, and certain features of this teaching can be used independently, all of which will be obvious to those skilled in the art after reading the benefits described herein. The elements described herein may be changed without departing from the spirit and scope of this teaching and the appended claims.

[0117] It is to be understood that the particular examples and embodiments described herein are non-limiting and that modifications in structure, dimensions, materials, and methods may be made without departing from the scope of the present teachings.

[0118] Other embodiments according to the present disclosure will be apparent to those skilled in the art by consideration of the specification and practice of the invention disclosed herein. The specification and examples should be considered as exemplary only, with the appended claims being given their broadest scope, including equivalent rights, under applicable law.

Claims

1. A remotely operable manipulator system comprising: a workbench assembly comprising a platform configured to support a body; a rail coupled to the table assembly, wherein the rail includes a transverse dimension and a longitudinal dimension; and a first manipulator and a second manipulator, the first manipulator and the second manipulator comprising respective proximal arms coupled to the rail and respective distal portions coupled to the proximal arms and configured to support an instrument mounted thereon, wherein the proximal arms of the first manipulator and the second manipulator are capable of translating relative to the guide rail along the longitudinal dimension of the guide rail and of rotating relative to the guide rail about a first axis perpendicular to the longitudinal dimension of the guide rail, and Wherein the proximal arms of the first manipulator and the second manipulator are positionable in a nested configuration relative to each other. 2 . The system of claim 1 , wherein the proximal arms of the first manipulator and the second manipulator are positionable in a nested configuration relative to each other in a deployed state.

3. A system according to claim 1 or 2, wherein in the nested configuration, the proximal arms are oriented at respective outward angles of at least 180 degrees relative to the guide rail and overlap each other in a given direction.

4. The system of claim 3, wherein the given direction is perpendicular to the transverse dimension and the longitudinal dimension of the rail.

5. The system of claim 4, wherein the platform includes a pair of opposing longitudinally extending sides and a pair of transversely extending sides, the pair of transversely extending sides connecting the longitudinally extending sides at opposing end portions of the platform, and Wherein in the nested configuration and in a deployed state of the first manipulator and the second manipulator, respective distal portions of the first manipulator and the second manipulator extend beyond one of the end portions of the platform and are positioned adjacent to a laterally extending side of the platform.

6. The system of claim 5, wherein in the nested configuration, no portion of the first manipulator or the second manipulator protrudes laterally outward beyond a longitudinally extending side of the platform.

7. The system of claim 6, wherein respective proximal arms of the first manipulator and the second manipulator are positioned at different heights relative to the guide rail.

8. The system of claim 1, wherein the first manipulator and the second manipulator further comprise respective coupling portions that rotatably couple the proximal arm to the rail, and Wherein the coupling portion of the first manipulator has a longer height dimension than the coupling portion of the second manipulator.

9. The system of claim 8, wherein the coupling portion of the first manipulator comprises a first part coupled to the rail and a second part coupled to the first part and the proximal arm of the first manipulator, wherein the second part is rotatable relative to the first part about a second axis parallel to the longitudinal dimension of the guide rail, and Wherein the proximal arm of the first manipulator is rotatable about the first axis relative to the second part.

10. The system according to claim 1, wherein the first manipulator and the second manipulator further include respective coupling portions, the coupling portions rotatably coupling the proximal arm to the guide rail, and Wherein the coupling portion of the first manipulator allows the proximal arm of the first manipulator to rotate about the first axis and about a second axis parallel to the longitudinal dimension of the guide rail.

11. The system of claim 3, wherein the given direction is parallel to a transverse dimension of the rail.

12. The system of claim 11, wherein the proximal arm of the first manipulator is offset from the first axis.

13. The system of claim 12, wherein the first manipulator and the second manipulator further comprise respective coupling portions that rotatably couple the proximal arm to the rail, and Wherein the coupling portion of the first manipulator includes a bend between the first axis and the proximal arm of the first manipulator.

14. The system of claim 1, wherein in the nested configuration and deployed state, distal portions of the first manipulator and the second manipulator are positioned higher than respective proximal arms of the first manipulator and the second manipulator.

15. The system of any one of claims 1 to 1, wherein the distal portions of the first manipulator and the second manipulator include an instrument support, and In the nested configuration, the instrument supports of the first manipulator and the second manipulator are positioned above the platform.

16. The system of claim 1, wherein in the nested configuration, the proximal arms are positioned adjacent to each other at one of the end portions of the platform.

17. The system of claim 1, wherein the platform comprises an assembly of multiple sections that are movable relative to each other to change the configuration of the platform between multiple configurations.

18. The system of claim 17, wherein the plurality of segments comprises a first end segment, one or more intermediate segments, and a second end segment positioned consecutively along the longitudinal dimension of the platform, and Wherein each of the first end segment and the second end segment is independently pivotable relative to the one or more intermediate segments.

19. The system of claim 1, further comprising: One or more first carriages each movably couple one of the proximal arms of the first manipulator and the second manipulator to the rail such that the proximal arm is translatable relative to the rail along a longitudinal dimension of the rail.

20. The system of claim 1, a control system operably coupled to drive the first manipulator and the second manipulator to position the proximal arm in the nested configuration.

21. The system according to claim 1, The workbench assembly includes a support column supporting the platform assembly, wherein the platform is capable of tilting relative to the support column; and The guide rail is configured to tilt together with the platform relative to the support column.

22. A remotely operable manipulator system comprising: a workbench assembly comprising a platform configured to support a body; a rail coupled to the table assembly, wherein the rail includes a transverse dimension and a longitudinal dimension; and a plurality of manipulators, each manipulator comprising a proximal arm coupled to the rail and a distal portion coupled to the proximal arm and configured to support an instrument mounted thereon, wherein the proximal arm of each manipulator is translatable relative to the rail along the longitudinal dimension of the rail and rotatable relative to the rail about a first axis perpendicular to the longitudinal dimension, and The proximal arms of at least two of the plurality of manipulators have staggered heights relative to the guide rail in a direction perpendicular to the transverse and longitudinal dimensions of the guide rail.

23. A remotely operable manipulator system comprising: a workbench assembly comprising a platform configured to support a body; a rail coupled to the table assembly, wherein the rail includes a transverse dimension and a longitudinal dimension; and a plurality of manipulators, each manipulator comprising a proximal arm coupled to the rail and a distal portion coupled to the proximal arm and configured to support an instrument mounted thereon, wherein the proximal arm of each manipulator is translatable relative to the rail along the longitudinal dimension of the rail and rotatable relative to the rail about a first axis perpendicular to the longitudinal dimension, and Wherein, when the proximal arms of the manipulator are positioned adjacent to each other at the same end portion of the platform, the proximal arms of the manipulator can be oriented at respective outward angles relative to the longitudinal dimension of the guide rail, each of which is equal to or greater than 180 degrees.

24. A medical system comprising: a workbench assembly including a platform configured to support a body, the platform including a pair of opposed longitudinally extending sides and a pair of transversely extending sides connecting the longitudinally extending sides at opposed end portions of the platform; a rail coupled to the table assembly, wherein the rail includes a transverse dimension and a longitudinal dimension; and a first manipulator and a second manipulator, each manipulator comprising a proximal arm coupled to the rail and a distal portion coupled to the proximal arm and configured to support an instrument mounted thereon, wherein the first manipulator and the second manipulator are positionable between a stowed position and a plurality of deployed positions, Wherein in the stowed position, the first manipulator and the second manipulator are each positioned below one of the end portions of the platform and do not protrude beyond the laterally-extending sides and the longitudinally-extending sides of the platform.

25. The medical system of claim 24, wherein the proximal arms of the first manipulator and the second manipulator are translatable relative to the rail along the longitudinal dimension of the rail and rotatable relative to the rail about a first axis perpendicular to the longitudinal dimension, Wherein in the stowed position, the proximal arms of the first manipulator and the second manipulator are angled outwardly by 180 degrees or more relative to the longitudinal dimension of the guide rail and overlap each other in a direction perpendicular to the transverse and longitudinal dimensions of the guide rail.

26. A medical system comprising: a workbench assembly, the workbench assembly comprising a platform configured to support a body, the platform being elongated along a longitudinal dimension; a guide rail coupled to the table assembly and extending parallel to the longitudinal dimension of the platform; and a first manipulator and a second manipulator, the first manipulator and the second manipulator being movably coupled to the rail and capable of translational movement along the rail, the first manipulator and the second manipulator each comprising a proximal arm coupled to the rail and a distal portion coupled to the proximal arm and configured to hold a medical tool; Wherein the first manipulator and the second manipulator are arrangeable such that at least the proximal arms thereof are in a nested configuration.

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