Patent ID: 8057385

Claim:
A surgical instrument assembly comprising: a guide tube comprising a proximal end, a distal end portion having a distal end, and an intermediate position between the proximal end and the distal end portion, wherein a longitudinal axis extends between the proximal and distal ends; a first surgical instrument comprising an end effector, a U-turn mechanism, and a joint between the U-turn mechanism and the end effector, wherein the U-turn mechanism comprises a first end, a second end, and a permanent U-shape section between the first and second ends, the first end of the U-turn mechanism being affixed to and remaining fixed in position relative to the distal end of the guide tube, the second end of the U-turn mechanism being coupled to the end effector, the U-turn mechanism being configured to transmit actuation forces for the end effector and the joint through the U-turn mechanism, and wherein at least a part of the first surgical instrument including at least the U-turn mechanism, the joint, and the end effector extends out from the distal end of the guide tube; a second surgical instrument, wherein at least a part of the second surgical instrument extends out from the guide tube at the intermediate position, and wherein the at least a part of the second surgical instrument extends out generally parallel to the longitudinal axis of the guide tube; and a stereoscopic image capture component positioned in a fixed location on the guide tube between the intermediate position and the distal end, wherein a field of view of the capture component is generally perpendicular to the longitudinal axis of the guide tube at a location proximal to the distal end of the guide tube.