Redundant axis and degree of freedom for hardware-limited remote center robotic manipulator

The invention relates to a redundant axis and degree of freedom for a hardware-limited remote center robotic manipulator. A remote center manipulator for use in minimally invasive robotic surgery includes a base link that remains stationary relative to a patient, an instrument holder, and a linkage that couples the instrument holder to the base link. First and second links of the linkage are coupled to limit movement of rotation of the second link about a first axis intersecting the remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder about a second axis intersecting the remote center of manipulation. The second axis does not coincide with the first axis. Third and fourth links of the linkage are coupled to limit movement of rotation of the fourth link about a third axis intersecting the remote center of manipulation. The third axis does not coincide with any one of the first and second axes. Various combinations of hardware limited remote center of motio