Patent ID: 7890211

Claim:
A robotic system comprising: a master manipulator; a slave manipulator comprising an elongate shaft, the shaft comprising a proximal end and a distal end, the shaft having a reference point located between the proximal and distal ends, the slave manipulator further comprising an end effector coupled to the distal end of the shaft; and a motor unit coupled to the proximal end of the shaft, the motor unit configured to translate movement of the master manipulator into corresponding movement of the distal end of the shaft by moving the proximal end of the shaft in at least two degrees of freedom, said movement in at least two degrees of freedom coordinated such that said reference point is fixed in space during movement of the proximal end of the shaft, said movement in at least two degrees of freedom comprising translating the proximal end of the shaft in at least two degrees of freedom to pivot the shaft about the reference point.