Patent ID: 8241306

Claim:
A method for minimally invasive surgery comprising: moving a first rigid rod along a longitudinal axis of an elongate housing having a proximal end and a distal end, the moving comprising pushing the first rigid rod to pivot an end effector in a first direction about a first rotational axis perpendicular to the longitudinal axis, the moving further comprising pulling the first rigid rod to pivot the end effector in a second direction opposite the first direction about the first rotational axis, the end effector operably coupled to the distal end of the housing; and moving a second rigid rod along the longitudinal axis of the elongate housing, the movement of the second rod being translated into rotational movement of the end effector by a pin confined to an arcuate channel, said rotational movement being about a second rotational axis perpendicular to the longitudinal axis and the first rotational axis, the pin being orthogonal to the longitudinal axis.