Embodiments of an instrument manipulator are disclosed. An instrument manipulator can include a track； a translational carriage coupled to ride along the track； a shoulder yaw joint coupled to the translational carriage； a shoulder pitch joint coupled to the shoulder yaw joint, the shoulder pith joint including an arm, a wrist mount coupled to the arm, struts coupled between the wrist mount and the shoulder yaw joint, and a shoulder pitch mechanism coupled to the arm； a yaw-pitch-roll wrist coupled to the wrist mount, the yaw-pitch-roll wrist including a yaw joint and a differentially driven pitch-roll joint； and an instrument mount coupled to the wrist. The various joints and carriages can be driven by motors.
