| 主权项 |
1. A surgical instrument assembly comprising:
a guide tube comprising a proximal end, a distal end, and an intermediate position between the proximal and distal ends, wherein a longitudinal axis extends between the proximal and distal ends; a surgical instrument permanently nonremovably mounted on the guide tube at the intermediate position, the surgical instrument comprising a parallel motion mechanism, a link, a wrist joint coupled to the link, and an end component coupled to the wrist joint, the parallel motion mechanism comprising:
a first joint permanently nonremovably mounted on the guide tube,a rigid elongate body segment connected to the first joint, anda second joint connected to the body segment and coupled to the link,wherein the first and second joints are coupled by cables so that moving the parallel motion mechanism heaves and sways the end component without changing pitch and yaw of the end component, andwherein the link is coupled to the parallel motion mechanism and is positioned between the parallel motion mechanism and the wrist joint; and a stereoscopic image capture component positioned at a fixed location on the guide tube between the intermediate position and the distal end, wherein a field of view of the image capture component is generally perpendicular to the longitudinal axis of the guide tube near the image capture component. |
