Abstract: A laparoscopic surgical instrument including a connection assembly, an end effector, and a manipulation unit. The instrument also includes a means for transmitting motion from the manipulation unit to the end effector. The means for transmitting motion may include a means for transmitting first rotational movement of the manipulation unit to the end effector in a way such that the end effector rotates around an axis that is orthogonal to the axis of the connection assembly. The means for transmitting motion may also include a means for transmitting a second rotational movement to the end effector in a way such that the end effector rotates around it's own axis that is parallel to the axis of the manipulation unit.

Abstract: A parallel spherical mechanism with two degrees of freedom for connecting a body to a fixed base in such a manner as to enable it to be oriented in three dimensions by turning about a first axis that is fixed relative to said fixed base, and about a second axis that is fixed relative to said body for orienting, these two axes intersecting at a center of spherical motion situated in said body for orienting, wherein: it comprises at least four links, each of said links being connected to said fixed base via a first connection point and to said body for orienting via a second connection point, and each link belonging to a first type or a second type, there being at least one link of each type, in which: in the link(s) of the first type, the first connection point is at any point of said fixed base, and the second connection point coincides with said center of spherical motion situated in said body for orienting: and in the link(s) of the second type, the first connection point lies on said first axis and the sec

Abstract: A parallel spherical mechanism with two degrees of freedom for connecting a body to a fixed base in such a manner as to enable it to be oriented in three dimensions by turning about a first axis that is fixed relative to said fixed base, and about a second axis that is fixed relative to said body for orienting, these two axes intersecting at a center of spherical motion situated in said body for orienting, wherein: it comprises at least four links, each of said links being connected to said fixed base via a first connection point and to said body for orienting via a second connection point, and each link belonging to a first type or a second type, there being at least one link of each type, in which: in the link(s) of the first type, the first connection point is at any point of said fixed base, and the second connection point coincides with said center of spherical motion situated in said body for orienting: and in the link(s) of the second type, the first connection point lies on said first axis and the sec