Patent ID: 8827996

Claim:
A method of surgery comprising: plugging base portions of a first end effector and a second end effector respectively into a first receptacle of a mechanical wrist and a second receptacle of the mechanical wrist coupled to a shaft of a robotic surgical instrument of a robotic surgical system, the mechanical wrist having a first joint for a first degree of freedom and a second joint for a second degree of freedom; coupling a first spring latch, attached to the base portion of the first end effector, to the first receptacle of the mechanical wrist; coupling a second spring latch, attached to the base portion of the second end effector, to the second receptacle of the mechanical wrist; and rotating, by cables and pulleys, the first receptacle of the mechanical wrist and the second receptacle of the mechanical wrist together about a pin such that the first and second receptacles of the mechanical wrist maintain a relative position to each other to yaw the first and second end effectors together in a same direction.