Abstract: A surgical tool for minimally invasive surgery. The surgical tool in one embodiment includes a manipulator as a user interface, a proximal universal joint mounted to the manipulator, a hollow elongated member such as a tube mounted to the proximal universal joint, and a distal universal joint mounted to the other end of the elongated member. An end effector is mounted to the distal universal joint second end. Pivoting of the first end of the proximal universal joint causes the second end of the distal universal joint to move in a corresponding motion, and cabling operatively couples the proximal and distal universal joints. The proximal and distal universal joints may each include two yokes and a center block. Cabling may include four cables that each engage two round elements at the proximal and distal universal joints mounting locations to the center block.

Abstract: A surgical instrument for minimally invasive surgery. The surgical instrument includes a manipulator, a proximal universal joint mounted to the manipulator, a tube mounted to the proximal joint, a distal universal joint mounted to the tube, and an end effector including at least one movable jaw mounted to the distal joint. Cables operatively couple the manipulator, proximal joint, and distal joints and concurrently operatively couple the manipulator and the end effector. Four cables may control two degrees of freedom of the distal joint and one degree of freedom of the jaw. Pivoting of the manipulator and a proximal yoke of the proximal joint results in a corresponding motion in a distal yoke of the distal joint. Actuation of an anchor in the manipulator results in operation of any moveable jaws in the end effector. The distal universal joint and the end effector may be integrated into one end segment part.