Patent ID: 8377046

Claim:
An apparatus comprising: a guide tube comprising a proximal end, a distal end, and a channel between the proximal and distal ends; a telemanipulation actuator assembly comprising a plurality of actuator elements; a surgical instrument comprising a first transmission mechanism at a proximal end of the surgical instrument, wherein the first transmission mechanism comprises a first plurality of interface elements, and wherein the first plurality of interface elements is coupled to the plurality of actuator elements when the surgical instrument is mounted on the telemanipulation actuator assembly; and an endoscopic imaging system comprising a second transmission mechanism at a proximal end of the endoscopic imaging system, wherein the second transmission mechanism comprises a second plurality of interface elements, wherein the second plurality of interface elements is coupled to the plurality of actuator elements when the endoscopic imaging system is mounted on the telemanipulation actuator assembly; wherein the first transmission mechanism and the second transmission mechanism each comprises a wedge shape; wherein the wedge shape of the first transmission mechanism and the wedge shape of the second transmission mechanism each comprises a vertex edge; wherein the vertex edge of the wedge shape of the first transmission mechanism is oriented along and adjacent an extended centerline of the guide tube when the surgical instrument is mounted on the telemanipulation actuator assembly; wherein the vertex edge of the wedge shape of the second transmission mechanism is oriented along and adjacent the extended centerline of the guide tube when the endoscopic imaging system is mounted on the telemanipulation actuator assembly; wherein the surgical instrument extends through the channel when the surgical instrument is mounted on the telemanipulation actuator assembly; wherein the endoscopic imaging system extends through the channel when the endoscopic imaging system is mounted on the telemanipulation actuator assembly; and wherein the surgical instrument and the endoscopic imaging system are interchangeably mountable on the telemanipulation actuator assembly.