Patent ID: 8500721

Claim:
A handheld medical manipulator comprising: an end effector that performs motions with respect to at least two different axes, and that is inserted in a body cavity during operation of the medical manipulator; at least two cylindrical motors that each include a longitudinal axis and that drive at least a part of the end effector, the motors remaining outside a living body during operation of the medical manipulator and being mounted on at least one bracket, wherein each motor includes a drive mechanism and a drive shaft that extends substantially perpendicular to the motor, the drive shaft including a driven mechanism that engages the drive mechanism of the motor; a connector shaft that interconnects the bracket and the end effector, a longitudinal axis of the connector shaft extending substantially parallel to each of the longitudinal axes of the motors; and a grip handle that is gripped during operation of the medical manipulator, the grip handle being positioned on a proximal side of the medical manipulator.