PROBLEM TO BE SOLVED: To provide multiple telemanipulation surgical instruments.SOLUTION: A distal end of the surgical instrument can move in all six Cartesian degrees of freedom independently of any other components in a telemanipulation surgical system. The surgical instrument extends through a guide tube 1811. The distal end 1822 is moved by an actuator, which is controlled by remote control. Furthermore, each surgical instrument works independently of the other and has an end effector with at least six actively controlled degrees of freedom in Cartesian space (i.e., surge, heave, sway, roll, pitch, and yaw), via a single entry port in a patient and past intermediate tissue that restricts lateral movement of a rigid instrument body.