Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.

Abstract: A workcell for making parts in a vertical orientation from rigid sheet material capable of self-support on edge includes a plurality of CNC machines for performing machining operations on said sheet material in a vertical orientation. The CNC machines receive machine control data from a cell controller which, in turn, receives nest order packages from a factory system. The parts data from which the factory system constructs the nest order packages comes from the original engineering parts definition in a central data storage system which is the ultimate parts design authority of the assembly for which the parts are to be made. The rigid sheet material is transferred in a vertical orientation to and between the CNC machines in at least one automated handling cart. The cart has a transfer mechanism for transferring sheets of the rigid sheet material on edge between the cart and the CNC machines.