Surgical tools and assemblies

Surgical tools and assemblies are used in minimally invasive surgery (MIS) therapy. A surgical tool assembly includes a handle assembly and a frame assembly. The handle assembly and the frame assembly are designed and configured to have an articulating input joint and a ground joint therebetween. A pitching rotational degree of freedom and a yawing rotational degree of freedom are provided through an articulated input joint. The handle assembly is translatably constrained relative to the frame assembly by the ground joint. Intermediate bodies and joints may be provided in certain surgical tool assemblies and structures. 手术工具和组件用在微创手术(MIS)治疗中。手术工具组件包括手柄组件和框架组件。手柄组件和框架组件被设计和构造成在它们之间具有铰接输入接头和接地接头。通过铰接输入接头提供俯仰旋转自由度和偏航旋转自由度。手柄组件通过接地接头相对于框架组件被平移约束。在某些外科手术工具组件和结构中可以提供中间本体和接头。