Devices and methods for moving an image capture device in telesurgical systems

Claim 1

A positional control system for varying the position of at least one robotic surgical tool, the positional control system including: a base, a first articulated arm having a first end mounted on the base and an opposed second end arranged to be positionally adjustable relative to the base, the first articulated arm having an upper arm portion, a forearm portion, a forearm link member and an upper arm link member; a first mounting formation on the second end of the first articulated arm and arranged to support a first robotic surgical tool, wherein the upper arm portion, the forearm link portion, the forearm link member, and the upper arm link members of the first articulated arm are pivotally secured to each other to effect displacement of the first mounting formation relative to the base; the forearm link member is positioned at least partially within the forearm portion and the upper arm link member is positioned at least partially within the upper arm portion; at least one actuator for driving the first articulated arm to cause positional adjustment of the second end relative to the base; a drive system comprising at least one harmonic drive operatively positioned between the actuator and the first articulated arm so as to articulate the first articulated arm, the drive system being backdrivable so that movement of the first robotic surgical tool effects movement of the actuator.