Minimally invasive surgery instrument assembly with reduced cross section

A method comprising:

• extending a parallel motion mechanism of a surgical instrument from an intermediate position of a guide tube, an image capture component being on the guide tube;
• moving the image capture component on the guide tube while the intermediate position of the guide tube remains stationary;
• and
• moving the parallel motion mechanism of the surgical instrument to heave and sway, a distal end component of the surgical instrument without changing pitch and yaw of the distal end component of the surgical instrument;
• the surgical instrument comprising a first body segment, a first set of cables, the parallel motion mechanism, a wrist mechanism, and a distal end component;
• the first body segment having a proximal end, a distal end, and a longitudinal axis defined between the proximal end and the distal end of the first body segment;
• the distal end component being coupled to the wrist mechanism;
• the wrist mechanism being configured to move the distal end component in at least one orientation degree of freedom;
• the parallel motion mechanism comprising a first joint, a second joint, a second body segment, and a second set of cables;
• the first joint, the second body segment, and the second joint being connected in series;
• the first joint comprising a first hinge having a first hinge pivot, the first hinge coupling the first body segment to the second body segment;
• the second joint comprising a second hinge having a second hinge pivot, the second hinge being positioned between the second body segment and the wrist mechanism;
• the first set of cables extending through the first body segment to the parallel motion mechanism, each of the first set of cables having a distal end connected distal of the first hinge pivot;
• and
• the second set of cables each having a first end connected to the parallel motion mechanism proximal of the first hinge pivot, and each having a second end connected to the parallel motion mechanism distal of the second hinge pivot.

A surgical instrument assembly comprising:

• a guide tube comprising a proximal end, a distal end, and a first set of cables;
• a first surgical instrument that extends through the guide tube and exits the guide tube;
• a second surgical instrument that extends through the guide tube and exits the guide tube;
• an image capture component;
• a wrist mechanism coupled to the image capture component, the wrist mechanism being configured to move the image capture component in at least one orientation degree of freedom;
• and
• a parallel motion mechanism comprising a first joint, a second joint, a body segment, and a second set of cables, the parallel motion mechanism being coupled between the guide tube and the image capture component, the parallel motion mechanism being configured to heave and sway the image capture component without changing pitch and yaw of the image capture component;
• the first joint, the body segment, and the second joint being connected in series;
• the first joint comprising a first hinge having a first hinge pivot, the first hinge coupling the distal end of the guide tube to the body segment;
• the second joint comprising a second hinge having a second hinge pivot, the second hinge being positioned between the body segment and the wrist mechanism;
• the first set of cables extending through the guide tube to the parallel motion mechanism, each of the first set of cables having a distal end connected distal of the first hinge pivot;
• and
• the second set of cables each having a first end connected to the parallel motion mechanism proximal of the first hinge pivot, and each having a second end connected to the parallel motion mechanism distal of the second hinge pivot.