A system comprising: a mounting arm; a linear slide assembly including a first track system and a second track system; a first carriage coupling, including a first carriage pivotally connected to a distal portion of the mounting arm via a first sway arm using a ball-and-socket pivot connection, which is defined by a ball of the mounting arm and a corresponding socket of the first sway arm, and a a second carriage pivotally connected to the distal portion of the mounting arm, and a first coupling arm is hingedly connected to the second carriage and to the first sway arm, the first carriage and the second carriage being slideably connected to the first track system; and a second carriage coupling, including a fourth carriage pivotally connected to a proximal end of the mounting arm via a second sway arm and a third carriage pivotally connected to a proximal end of the mounting arm via a second sway arm, using a pivoting connection, wherein the second sway arm is hingedly connected to a second coupling arm, and the second coupling arm is hingedly connected to a fourth carriage, wherein the third carriage and the fourth carriage being slideably connected to the second track system; and a device holder slidably connected to the mounting arm for interfacing with a medical instrument (102, 302); and a first mechanism which moves an insertion carriage to which the device holder is connected along an insertion track of the mounting arm; and a rotary drive assembly driving the linear slide assembly for slideably driving the first, second, third and fourth carriages (134, 136, 138, 140) along the first and second track systems to effect pitch and yaw motion of the medical instrument attached to the device holder. a mounting arm; a linear slide assembly including a first track system and a second track system; a first carriage coupling, including a first carriage pivotally connected to a distal portion of the mounting arm via a first sway arm using a ball-and-socket pivot connection, which is defined by a ball of the mounting arm and a corresponding socket of the first sway arm, and a a second carriage pivotally connected to the distal portion of the mounting arm, and a first coupling arm is hingedly connected to the second carriage and to the first sway arm, the first carriage and the second carriage being slideably connected to the first track system; and a second carriage coupling, including a fourth carriage pivotally connected to a proximal end of the mounting arm via a second sway arm and a third carriage pivotally connected to a proximal end of the mounting arm via a second sway arm, using a pivoting connection, wherein the second sway arm is hingedly connected to a second coupling arm, and the second coupling arm is hingedly connected to a fourth carriage, wherein the third carriage and the fourth carriage being slideably connected to the second track system; and a device holder slidably connected to the mounting arm for interfacing with a medical instrument (102, 302); and a first mechanism which moves an insertion carriage to which the device holder is connected along an insertion track of the mounting arm; and a rotary drive assembly driving the linear slide assembly for slideably driving the first, second, third and fourth carriages (134, 136, 138, 140) along the first and second track systems to effect pitch and yaw motion of the medical instrument attached to the device holder.