Surgical robotic system with single port access system

Abstract

A surgical robotic system includes a control drive unit having a camera drive unit and a surgical instrument and a plurality of instrument drive units. The system also includes a plurality of instruments, each instrument coupled to an instrument drive unit; and a camera coupled to the camera driving unit. The system further includes a surgical port assembly configured to receive the plurality of instruments, and a camera; and an installation arm having a plurality of links. A mounting arm is coupled to the control drive unit and has a constrained remote center of motion.

Description

[0001] Cross - Reference to Related Applications

[0002] This application claims the benefit and priority of U.S. Provisional Patent Application Serial No. 63 / 428,567, filed on November 29, 2022. The entire content of the foregoing application is incorporated herein by reference. Background Art

[0003] Surgical robotic systems are currently used in a variety of surgical procedures, including minimally invasive medical procedures. Some surgical robotic systems include a surgeon's console that controls surgical arms and a surgical instrument having an end - effector (e.g., a clamp or grasping instrument) coupled to and actuated by the arm. In operation, the arm moves to a position above the patient and then guides the surgical instrument through a surgical port or natural orifice of the patient into a small incision to position the end - effector at a working site within the patient. Summary of the Invention

[0004] According to one embodiment of the present disclosure, a surgical robotic system is disclosed. The surgical robotic system includes a control drive unit having a camera drive unit and a plurality of instrument drive units. The system further includes: a plurality of instruments, each instrument coupled to an instrument drive unit; and a camera, the camera coupled to the camera drive unit. The system further includes: a surgical port assembly configured to receive the plurality of instruments and the camera; and a mounting arm having a plurality of linkages. The mounting arm is coupled to the control drive unit and has a constrained remote center of motion.

[0005] Implementations of the above embodiments may include one or more of the following features. According to one aspect of the above - described embodiment, the mounting arm may further include a parallelogram joint configured to mechanically constrain the remote center of motion. The mounting arm may further include a rotatable joint coupled to the parallelogram joint. The rotatable joint may be disposed along a vertical axis passing through the remote center of motion. The parallelogram joint may be configured to constrain the pitch motion of the control drive unit to be between approximately +10 degrees and approximately - 50 degrees. The surgical port assembly may be at least partially disposed at the remote center of motion. The mounting arm may include an L - shaped linkage having a first joint coupled to the mounting arm and a second joint coupled to the control drive unit. The first joint may be configured to control the left - right sway motion of the control drive unit, and the second joint may be configured to control the pitch motion of the control drive unit. Each of the first joint and the second joint may include an actuator. A controller may be configured to control the actuators to constrain the pitch motion and the left - right sway motion of the control drive unit. Brief Description of the Drawings

[0006] In this disclosure, different embodiments are described with reference to the accompanying drawings, in which:

[0007] Figure 1 is a schematic diagram of a surgical robot system according to an embodiment of the present disclosure, the surgical robot system including a control tower, a console, and one or more surgical robotic arms all disposed on a movable trolley;

[0008] Figure 2 is according to an embodiment of the present disclosure Figure 1 a perspective view of the surgical robotic arm of the surgical robot system;

[0009] Figure 3 is a perspective view of a movable trolley with a mounting arm according to an embodiment of the present disclosure, the mounting arm having Figure 1 the surgical robotic arm of the surgical robot system;

[0010] Figure 4 is according to an embodiment of the present disclosure Figure 1 a schematic diagram of the computer architecture of the surgical robot system;

[0011] Figure 5A is a perspective view of a movable trolley with a mounting arm according to an embodiment of the present disclosure, the mounting arm having a plurality of instrument drive units;

[0012] Figure 5B is according to an embodiment of the present disclosure Figure 5B a perspective view of the movable trolley, wherein the cover is removed from the mounting arm;

[0013] Figure 6 is a perspective view of a movable trolley with a mounting arm according to another embodiment of the present disclosure, the mounting arm having a plurality of instrument drive units; and

[0014] Figure 7 is a perspective view of a control drive assembly for controlling a plurality of surgical robot instruments and cameras according to another embodiment of the present disclosure. DETAILED DESCRIPTION

[0015] Embodiments of the surgical robot system disclosed herein are described in detail with reference to the accompanying drawings, in which like reference numerals represent the same or corresponding elements in each of several views.

[0016] As will be described in detail below, the present disclosure relates to a surgical robotic system that includes a surgeon console, a control tower, and one or more mobile carts having a surgical robotic arm coupled to a mounting arm. The surgeon console receives user inputs through one or more interface devices, and these user inputs are processed by the control tower into movement commands for moving the surgical robotic arm and the instruments and / or cameras coupled thereto. Thus, the surgeon console enables remote operation of the surgical arm and the attached instruments / cameras. The surgical robotic arm includes a controller configured to process the movement commands and to generate torque commands for activating one or more actuators of the robotic arm, and the one or more actuators in turn move the robotic arm in response to the movement commands.

[0017] Referring Figure 1 , surgical robotic system 10 includes a control tower 20 that is connected to all components of surgical robotic system 10, including surgeon console 30 and one or more mobile carts 60. Each mobile cart 60 includes a robotic arm 40 having a surgical instrument 50 removably coupled thereto. Robotic arm 40 is also coupled to mobile cart 60. Robotic system 10 may include any number of mobile carts 60 and / or robotic arms 40.

[0018] Surgical instrument 50 is configured for use during minimally invasive surgical procedures. In an embodiment, surgical instrument 50 may be configured for open surgical procedures. In additional embodiments, surgical instrument 50 may be an electrosurgical clamp configured to seal tissue by pressing the tissue between jaw members and applying an electrosurgical current thereto. In yet additional embodiments, surgical instrument 50 may be a surgical stapler that includes a pair of jaws configured to grasp and clamp tissue while deploying a plurality of tissue fasteners (e.g., staples) and cutting the stapled tissue. In yet additional embodiments, surgical instrument 50 may be a surgical clip applicator that includes a pair of jaws configured to apply a surgical clip to tissue.

[0019] One of robotic arms 40 may include an endoscopic camera 51 configured to capture video of the surgical site. Endoscopic camera 51 may be a stereoscopic endoscope configured to capture two side-by-side (i.e., left and right) images of the surgical site to produce a video stream of the surgical scene. Endoscopic camera 51 is coupled to a video processing device 56, which may be disposed within control tower 20. Video processing device 56 may be any computing device as described below that is configured to receive a video feed from endoscopic camera 51 and output a processed video stream.

[0020] The surgeon console 30 includes a first display 32 and a second display 34. The first display shows a video feed of the surgical site provided by a camera 51 of a surgical instrument 50 disposed on the robotic arm 40, and the second display shows a user interface for controlling the surgical robot system 10. The first display 32 and the second display 34 can be touchscreens that allow for the display of various graphical user inputs.

[0021] The surgeon console 30 further includes: a plurality of user interface devices such as a foot pedal 36; and a pair of handle controllers 38a and 38b that are used by the user to remotely control the robotic arm 40. The surgeon console further includes an armrest 33 for supporting the clinician's arm when operating the handle controllers 38a and 38b.

[0022] The control tower 20 includes a display 23 (which can be a touchscreen) and outputs on a graphical user interface (GUI). The control tower 20 also serves as an interface between the surgeon console 30 and one or more robotic arms 40. In particular, the control tower 20 is configured to control the robotic arm 40 based on a set of programmable instructions and / or input commands from the surgeon console 30 so as to move the robotic arm 40 and the corresponding surgical instrument 50 in such a way that the robotic arm 40 and the surgical instrument 50 execute a desired movement sequence in response to inputs from the foot pedal 36 and the handle controllers 38a and 38b. The foot pedal 36 can be used to enable and lock the hand controllers 38a and 38b, reposition the camera movement, and activate / deactivate electrosurgery. In particular, the foot pedal 36 can be used to perform a clutch action on the hand controllers 38a and 38b. Pressing one of the foot pedals 36 initiates the clutch, which disconnects the hand controllers 38a and / or 38b from the robotic arm 40 and the corresponding instrument 50 or camera 51 attached thereto (i.e., prevents movement input). This allows the user to reposition the hand controllers 38a and 38b without moving the robotic arm(s) 40 and the instrument 50 and / or camera 51. This is useful when reaching the control boundaries of the surgical space.

[0023] Each of the control tower 20, the surgeon's console 30, and the robotic arm 40 includes a respective computer 21, 31, 41. The computers 21, 31, 41 are interconnected with one another by using any suitable communication network based on a wired or wireless communication protocol. As used herein, the term "network", whether plural or singular, refers to a data network, including but not limited to the Internet, an intranet, a wide area network, or a local area network, and is not limited to the full scope of the definition of the communication network covered by this disclosure. Suitable protocols include but are not limited to Transmission Control Protocol / Internet Protocol (TCP / IP), User Datagram Protocol / Internet Protocol (UDP / IP), and / or Datagram Congestion Control Protocol (DCCP). Wireless communication can be achieved through one or more wireless configurations, such as radio frequency, light, Wi-Fi, Bluetooth (an open wireless protocol used to exchange data from fixed and mobile devices over short lengths of radio waves), creating a personal area network (PAN), (a specification of an advanced communication protocol using small low-power digital radios based on the IEEE 122.15.4-2003 wireless personal area network (WPAN) standard).

[0024] The computers 21, 31, 41 can include any suitable processor (not shown) that is operably connected to a memory (not shown), which can include one or more of volatile, non-volatile, magnetic, optical, or electrical media, such as read-only memory (ROM), random access memory (RAM), electrically erasable programmable ROM (EEPROM), non-volatile RAM (NVRAM), or flash memory. The processor can be any suitable processor (e.g., a control circuit) adapted to execute the operations, calculations, and / or instruction sets described in this disclosure, including but not limited to a hardware processor, a field programmable gate array (FPGA), a digital signal processor (DSP), a central processing unit (CPU), a microprocessor, and combinations thereof. Those skilled in the art will understand that a processor can be replaced by using any logical processor (e.g., a control circuit) adapted to execute the algorithms, calculations, and / or instruction sets described herein.

[0025] Referring Figure 2 , each robotic arm 40 can include a plurality of links 42a, 42b, 42c that are interconnected at joints 44a, 44b, 44c, respectively. As known to those skilled in the art, other configurations of links and joints can be used. Joint 44a is configured to secure the robotic arm 40 to a movable cart 60 and define a first longitudinal axis. Referring Figure 3, the movable cart 60 includes a lift 67 and a mounting arm 61, and the mounting arm provides a base for the robotic arm 40. The lift 67 allows the mounting arm 61 to move vertically. The movable cart 60 further includes a display 69 for displaying information about the robotic arm 40. In an embodiment, the robotic arm 40 may include any type and / or number of joints.

[0026] The mounting arm 61 includes a first link 62a, a second link 62b, and a third link 62c, and these links provide lateral maneuverability for the robotic arm 40. The links 62a, 62b, 62c are interconnected at joints 63a and 63b, and each joint may include an actuator (not shown) for rotating the links 62b and 62b relative to each other and relative to the link 62c. In particular, the links 62a, 62b, 62c can move in their corresponding laterally parallel planes, thereby allowing the robotic arm 40 to extend relative to the patient (e.g., the operating table). In an embodiment, the robotic arm 40 may be coupled to an operating table (not shown). The mounting arm 61 includes a control device 65 for adjusting the movement of the links 62a, 62b, 62c and the lift 67. In an embodiment, the mounting arm 61 may include any type and / or number of joints.

[0027] The third link 62c may include a rotatable base 64 having two degrees of freedom. In particular, the rotatable base 64 includes a first actuator 64a and a second actuator 64b. The first actuator 64a can rotate about a first fixed arm axis perpendicular to the plane defined by the third link 62c, and the second actuator 64b can rotate about a second fixed arm axis transverse to the first fixed arm axis. The first actuator 64a and the second actuator 64b allow for a full three-dimensional orientation of the robotic arm 40.

[0028] The actuator 48b of joint 44b is coupled to joint 44c via a belt 45a, and joint 44c is in turn coupled to joint 46b via a belt 45b. Joint 44c may include a transfer case that couples belts 45a and 45b such that actuator 48b is configured to rotate each of links 42b, 42c and holder 46 relative to one another. More specifically, links 42b, 42c and holder 46 are passively coupled to actuator 48b, which forces rotation about pivot point "P", which is located at the intersection of a first axis defined by link 42a and a second axis defined by holder 46. In other words, pivot point "P" is the remote center of motion (RCM) of robotic arm 40. Thus, actuator 48b controls the angle θ between the first axis and the second axis, thereby allowing the surgical instrument 50 to be oriented. Due to the interconnection of links 42a, 42b, 42c and holder 46 via belts 45a and 45b, the angles between links 42a, 42b, 42c and holder 46 are also adjusted to achieve the desired angle θ. In embodiments, some or all of joints 44a, 44b, 44c may include actuators to eliminate the need for mechanical linkages.

[0029] Joints 44a and 44b include actuators 48a and 48b that are configured to drive joints 44a, 44b, 44c relative to one another via a series of belts 45a and 45b or other mechanical linkages such as drive rods, cables, or levers. In particular, actuator 48a is configured to rotate robotic arm 40 about the longitudinal axis defined by link 42a.

[0030] Reference Figure 2 , holder 46 defines a second longitudinal axis and is configured to receive an instrument drive unit (IDU) 52 ( Figure 1 ). IDU 52 is configured to be coupled to the actuation mechanisms of surgical instrument 50 and camera 51 and is configured to move (e.g., rotate) and actuate instrument 50 and / or camera 51. IDU 52 transfers actuation force from its actuator to surgical instrument 50 to actuate components of end effector 49 of surgical instrument 50. Holder 46 includes a sliding mechanism 46a that is configured to move IDU 52 along the second longitudinal axis defined by holder 46. Holder 46 also includes a joint 46b that rotates holder 46 relative to link 42c. During an endoscopic procedure, instrument 50 may be inserted through an endoscopic access port 55 ( Figure 3 ) held by holder 46. Holder 46 also includes a port latch 46c ( Figure 2 ) for securing access port 55 to holder 46.

[0031] The robotic arm 40 further includes a plurality of manual override buttons 53 disposed on the IDU 52 and the mounting arm 61 ( Figure 1 ), and the plurality of manual override buttons can be used in the manual mode. The user can press one or more of these buttons 53 to move the components associated with the buttons 53.

[0032] Reference Figure 4 , each of the computers 21, 31, 41 of the surgical robot system 10 may include a plurality of controllers, and the plurality of controllers may be implemented in hardware and / or software. The computer 21 of the control tower 20 includes a controller 21a and a safety monitor 21b. The controller 21a receives data from the computer 31 of the surgeon console 30 regarding the current position and / or orientation of the handle controllers 38a and 38b and the status of the foot pedals 36 and other buttons. The controller 21a processes these input positions to determine the desired drive commands for each joint of the robotic arm 40 and / or the IDU 52, and transmits these desired drive commands to the computer 41 of the robotic arm 40. The controller 21a also receives the actual joint angles measured by the encoders of the actuators 48a and 48b, and uses this information to determine force feedback commands, which are transmitted back to the computer 31 of the surgeon console 30 to provide haptic feedback through the handle controllers 38a and 38b. The safety monitor 21b checks the validity of the data entering and exiting the controller 21a, and if an error in data transmission is detected, notifies the system fault handler to place the computer 21 and / or the surgical robot system 10 in a safe state.

[0033] The computer 41 includes a plurality of controllers, namely, a cart main controller 41a, a mounting arm controller 41b, a robotic arm controller 41c, and an instrument drive unit (IDU) controller 41d. The cart main controller 41a receives and processes the joint commands from the controller 21a of the computer 21, and transmits them to the mounting arm controller 41b, the robotic arm controller 41c, and the IDU controller 41d. The cart main controller 41a also manages the instrument exchange and the overall status of the movable cart 60, the robotic arm 40, and the IDU 52. The cart main controller 41a also transmits the actual joint angles back to the controller 21a.

[0034] Each of joints 63a and 63b and the rotatable base 64 of the mounting arm 61 are passive joints (i.e., without actuators therein) that allow a user to manually adjust. Joints 63a and 63b and the rotatable base 64 include brakes that are disengaged by the user to configure the mounting arm 61. When the brakes are engaged, the mounting arm controller 41b monitors the slippage of each of joints 63a and 63b and the rotatable base 64 of the mounting arm 61, or when the brakes are disengaged, the mounting arm can be freely moved by the operator without affecting the control of other joints. The robotic arm controller 41c controls each joint 44a and 44b of the robotic arm 40 and calculates the desired motor torques required for gravity compensation, friction compensation, and closed-loop position control of the robotic arm 40. The robotic arm controller 41c calculates a movement command based on the calculated torques. The calculated motor commands are then transmitted to one or more of the actuators 48a and 48b in the robotic arm 40. The actual joint positions are then transmitted back to the robotic arm controller 41c by the actuators 48a and 48b.

[0035] The IDU controller 41d receives the desired joint angles (such as wrist and jaw angles) of the surgical instrument 50 and calculates the desired current of the motors in the IDU 52. The IDU controller 41d calculates the actual angles based on the motor positions and transmits the actual angles back to the cart main controller 41a.

[0036] The robotic arm 40 is controlled in response to the posture of a handle controller (e.g., handle controller 38a) that controls the robotic arm 40, and the posture is transformed into a desired posture of the robotic arm 40 by the hand-eye transformation function performed by the controller 21a. The hand-eye function and other functions described herein are implemented in software that can be executed by the controller 21a or any other suitable controller described herein. The posture of one of the handle controllers 38a can be implemented as a coordinate position and a roll-pitch-yaw (RPY) orientation relative to a coordinate reference system fixed to the surgeon's console 30. The desired posture of the instrument 50 is relative to a fixed system on the robotic arm 40. Then, the posture of the handle controller 38a is scaled by the scaling function performed by the controller 21a. In an embodiment, the coordinate position can be scaled down and the orientation can be scaled up by the scaling function. Additionally, the controller 21a can also perform a clutch function for disengaging the handle controller 38a from the robotic arm 40. In particular, if certain movement limits or other thresholds are exceeded, the controller 21a stops transmitting movement commands from the handle controller 38a to the robotic arm 40 and substantially acts like a virtual clutch mechanism, e.g., restricting the mechanical input from affecting the mechanical output.

[0037] The desired pose of the robotic arm 40 is based on the pose of the handle controller 38a and is then passed through an inverse kinematics function executed by the controller 21a. The inverse kinematics function calculates the angles of the joints 44a, 44b, 44c of the robotic arm 40 that achieve the scaled and adjusted pose input by the handle controller 38a. The calculated angles are then passed to the robotic arm controller 41c, which includes a joint axis controller with a proportional derivative (PD) controller, a friction estimator module, a gravity compensator module, and a bilateral saturation block configured to limit the commanded torques of the motors of the joints 44a, 44b, 44c.

[0038] Reference Figure 5A , the robotic system 10 can also be used with a multi-instrument mobile cart 160, which includes a control drive assembly 100 configured to actuate a plurality of instruments 50 and a camera 51. Thus, compared to the robotic arms 40 (each robotic arm controls a single instrument 50 inserted through a corresponding access port 55), the mobile cart 160 is used with the surgical port assembly 16( Figure 7 ), which can serve as a single access port for the plurality of instruments 50 and the camera 51.

[0039] Reference Figure 7 , the control drive assembly 100 is pivotally mounted to the mounting arm 161 of the mobile cart 160. The control drive unit 101 of the control drive assembly 100 includes a housing 102 that supports an instrument drive assembly 103, which includes instrument drive units 103a (e.g., three) and a camera drive unit 103b. The instrument drive units 103a are coupled to the instruments 50, and the camera drive unit 103b is coupled to the endoscopic camera 51. The instruments 50 and the camera 51 are inserted into the surgical port assembly 16, which has a plurality of lumens as Figure 7 shown, the plurality of lumens having any suitable shape or size configured for the instruments 50 and the camera 51 to pass through their respective corresponding lumens. Although four lumens are shown, it should be understood that more or fewer lumens can be provided. The surgical port assembly 16 is configured to be inserted into a patient.

[0040] The control drive unit 101 further includes a support rod assembly 104 that is mounted to the housing 102. The support rod assembly 104 may have a hollow configuration configured to enable internal wiring and weight reduction. The support rod assembly 104 includes a rear rod 104a having a U-shaped configuration that surrounds the sidewall of the proximal portion of the housing 102 and extends beneath the housing 102. The support rod assembly 104 further includes a handle 104b and a port arm 104c that extends distally from the handle 104b to a port latch assembly 105 on the distal portion of the port arm 104c. The port arm 104c has an arcuate configuration and extends to a floating member on the proximal portion of the port latch assembly 105, thereby enabling post-manufacture alignment of the port latch assembly 105 and helping to reduce any assembly stack-up errors. The port latch assembly 105 is configured to secure the surgical access assembly 16 and define the RCM. The support rod assembly 104 further includes a plurality of brake release buttons 104e on the inward-facing surfaces of the rear rod 104a, handle 104b, and port arm 104c of the support rod assembly 104, the plurality of brake release buttons being configured to stop the linear movement of the instrument drive unit 103a and / or the camera drive unit 103b relative to the control drive unit 101. The control drive assembly 100 and its operation are described in further detail in U.S. Provisional Patent Application No. 63 / 341,459, filed May 13, 2022, the entire contents of which are incorporated herein by reference.

[0041] Reference Figure 5A , the mobile cart 160 includes a mounting arm 161 having a first link 162a that is vertically movable to allow height adjustment of the mounting arm 161. The mounting arm 161 further includes a second link 162b and a third link 162c. The second link 162b is coupled to the first link 162a via a rotary joint 163a and is coupled to the third link 162c via a second rotary joint 163b. The joints 163a and 163b may be passive to allow manual adjustment of the mounting arm 161. The mounting arm 161 further includes a combined parallelogram joint 165 having a pair of links 165a and 165b that are rotatably coupled via a joint 166a. The control drive assembly 100 is coupled to the link 165b via a joint 166b. The parallelogram joint 165 is rotatably coupled to a third joint 163c of the mounting arm 161 via a joint 166c. The joints 163c and 166a-c of the mounting arm 161 may be active and / or spring balanced. As used herein, the term "active joint" refers to a joint having an actuator (e.g., a motor). The configuration of the parallelogram joint 165 provides a mechanically constrained RCM.

[0042] The third joint 163c of the mounting arm 161 and the joint 166b of the parallelogram joint 165 are placed directly above the RCM. Thus, the joint 163c is separately set to control the left - right swing of the drive assembly 100. To ensure that the third joint 163c remains above the RCM (i.e., along the vertical axis perpendicular to the floor), the parallelogram joint 165 provides control of the pitching motion of the drive assembly 100, which for a mechanically constrained RCM can range from approximately +10° to approximately - 50°. The other joints 163a and 163b can remain passive as they are not engaged during repositioning. The vertical platform (i.e., the first link 162a) can also remain passive as it is only used for manual setting. In an embodiment, the first link 162a can be spring - balanced to address the high - inertia problem.

[0043] Reference Figure 5B , the links 162a - c of the mounting arm 161 and the links 165a - b of the parallelogram joint 165 can be rigid links rather than driven. The rigid links can be carbon fiber - reinforced plastic tubes that are very rigid in terms of bending and torsion. Cast and machined metal nodes can be used at the joints 163a - c and 166a - c. Although the linkage - driven parallelogram is more restricted in its rotation angle, it is significantly more rigid, simpler to assemble, and leaves more internal space for wiring. These features make this design very suitable for a single - port robotic system with long and high - load links but only having a travel of approximately 60 degrees.

[0044] Reference Figure 6 , another embodiment of the multi - instrument mobile cart 260, which is substantially similar to the mobile cart 160 except that the parallelogram joint 165 is replaced by an L - shaped link 265. The mounting arm 161 is coupled to the L - shaped link 265 via a first joint 266a that provides rotation about a first axis (e.g., the Y - axis). The L - shaped link 265 is coupled to the control drive assembly 100 via a second joint 266b that provides rotation about a second axis (e.g., the X - axis) perpendicular to the first axis. The first joint 266a and the second joint 266b are controlled by the controller 21a to limit the pitching motion and the left - right swing motion, thereby controlling the RCM (i.e., the software - constrained RCM).

[0045] To maintain the RCM while making pitch adjustments, the first link 162a, the first joint 163a, and the second joint 163b are also motorized and controlled by the controller 21a. To minimize inertia and enable an easily back - drivable system for manual setting, the joints of the mounting arm 161 can be spring - balanced. In an additional embodiment, the actuator can be back - drivable.

[0046] It will be understood that various modifications can be made to the embodiments disclosed herein. Accordingly, the above description should not be construed as limiting, but merely as illustrative of various embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the appended claims.

Claims

1. A surgical robot system, comprising: A control drive unit, the control drive unit including a camera drive unit and a plurality of instrument drive units; A plurality of instruments, each instrument being coupled to an instrument drive unit; A camera, the camera being coupled to the camera drive unit; A surgical port assembly configured to receive the plurality of instruments and the camera; A mounting arm, the mounting arm including a plurality of linkages, the mounting arm being coupled to the control drive unit and having a constrained remote center of motion.

2. The surgical robot system according to claim 1, wherein, The mounting arm further includes a parallelogram joint configured to mechanically constrain the constrained remote center of motion.

3. The surgical robot system according to claim 2, wherein, The mounting arm includes a rotatable joint coupled to the parallelogram joint.

4. The surgical robot system according to claim 3, wherein, The rotatable joint is disposed along a vertical axis passing through the constrained remote center of motion.

5. The surgical robot system according to claim 4, wherein, The parallelogram joint is configured to constrain the pitch motion of the control drive unit between approximately +10° and approximately -50°.

6. The surgical robot system according to claim 1, wherein, The surgical port assembly is at least partially disposed at the constrained remote center of motion.

7. The surgical robot system according to claim 1, wherein, The mounting arm includes an L-shaped linkage including a first joint coupled to the mounting arm and a second joint coupled to the control drive unit, the first joint being configured to control the left-right swaying motion of the control drive unit, and the second joint being configured to control the pitch motion of the control drive unit.

8. The surgical robot system according to claim 7, wherein, Each of the first joint and the second joint includes an actuator.

9. The surgical robot system according to claim 8, further comprising a controller coupled to the actuators, wherein, The controller is configured to control the actuators to constrain the pitch motion and the left-right swaying motion of the control drive unit.

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