Surgical system entry guide

A surgical system comprising:

• a cannula having a longitudinal axis;
• an entry guide positioned in and rotatable within the cannula, the entry guide comprising a plurality of channels extending longitudinally through the entry guide, and the entry guide having a longitudinal axis aligned with the longitudinal axis of the cannula;
• and
• a plurality of surgical instruments rotatable as a group around a roll axis, each of the plurality of surgical instruments comprising a shaft that passes through a corresponding channel in the plurality of channels of the entry guide, the shaft of one surgical instrument of the plurality of surgical instruments being configured to impinge against an interior surface of the corresponding channel when the one surgical instrument is moved around the roll axis, wherein rotation of the plurality of surgical instruments as a group around the roll axis causes the shaft of the one surgical instrument to impinge against the interior surface of the corresponding channel of the entry guide and rotate the entry guide within the cannula.

A surgical system comprising:

• a cannula having a longitudinal axis defined between proximal and distal ends of the cannula;
• an entry guide having a roll axis defined between proximal and distal ends of the entry guide and having a longitudinal channel parallel to and offset from the roll axis of the entry guide, the entry guide being positioned in the cannula so that the roll axis of the entry guide is aligned with the longitudinal axis of the cannula;
• a manipulator having a roll axis aligned with the roll axis of the entry guide;
• and
• a surgical instrument having a proximal end coupled to the manipulator and having a shaft positioned in the channel of the entry guide, wherein roll of the manipulator around the roll axis of the manipulator moves the surgical instrument and the shaft around the roll axis of the manipulator, and the movement of the shaft rolls the entry guide around the roll axis of the entry guide.