Teleoperation surgical system

In a surgical system for surgery at a worksite internal to a patient, an end link (160) supports a sensor (168) and is adapted to be held by a surgeon such that the surgeon can move the end link (160) and independently activate the sensor (168); the end link (160) has a proximal end coupled to a distal end of an inner link (150L1) and an outer link (150L2) has a proximal end connected to the inner link; the inner link (150L1) has a proximal end connected to a housing (144) and a distal end connected to the outer link (150L2); the inner link (150L1) is connected to the housing (144) by one or more joints that allow the inner link (150L1) to pivot about a first pivotal axis and a second pivotal axis perpendicular to the first pivotal axis; the outer link (150L2) is connected to the inner link (150L1) by one or more joints that allow the outer link (150L2) to rotate relative to the inner link (150L1) and extend and retract relative to the inner link (150L1); and a servomechanism couples the controller (140) to the surgical instrument such that motion of the outer link (150L2) of the control arm relative to the housing (144) causes corresponding motion of the end effector of an insertion section relative to a small incision and activation of the sensor (168) causes actuation of the end effector.