In a minimally invasive surgical system, an image capture unit includes a prism assembly and sensor assembly. 3-diene-copolymers in the form of their aqueous polymer dispersions or in the form of a powder which can be re-dispersed in water, by emulsion-polymerizing a mixture containing at least one vinyl aromatic and at least one 1,3-diene in the presence of a protective colloid and optionally, drying the resulting polymer dispersions. The vehicle bodies can be produced independently of the chassis. The polyamide support is characterized by relatively low surface area, specifically a surface area less than 20 square meters per gram. The disk 50 has at least one aperture 78, a post 54, and a projection 52. The closure is displaceable between a closed position in which the closure closes the ink supply channel and an open position in which ink is permitted to flow into the nozzle chamber.