1. A handheld surgical instrument comprising:an instrument shaft having a proximal end and a distal end;
an articulated handle;
an articulated end effector connected to the distal end of the instrument shaft;
a structural frame having a proximal end mounted on the articulated handle and a distal end coupled to the proximal end of the instrument shaft, the structural frame comprising three joints, each of the three joints having an axis that intersects at a remote center of motion of the handheld surgical instrument, the remote center of motion configured to be coincident to a central point of a user's wrist; and
a flexible mechanical transmission system connecting the articulated handle to the articulated end effector such that motion applied to the articulated handle is reproduced at the articulated end effector,
wherein the articulated end effector comprises at least three orientation or actuation degrees of freedom, and
wherein the flexible mechanical transmission system follows a continuous path from a proximal end of the articulated handle to the distal end of the articulated handle and then from the proximal to the distal end of the structural frame and then from the proximal to the distal end of the instrument shaft and then from a proximal end of the articulated end-effector to a distal end of the articulated end effector.