I have a list of people I corresponded with before we did SA in Feb.
We were going to do the falls on own, but as it was on Oceania mid cruise opted out..
hubby didn't want to leave ship during cruise for 2 days and give up OS..

in any event here are 2 companies you might try. would also agree that if mid cruise go with ship, all that did had a great time and said it went perfect.. if you will do it pre or post cruise than you have lots of flexibility to really do what you want.
http://www.kontiki.org http://www.southstartours.com