Patent ID: 8012160

Claim:
A surgical instrument comprising: a shaft having a distal end and a proximal end; a formation at the distal end of said shaft, said formation movable relative to said shaft in a first degree of freedom; at least one elongate element connected to the formation to cause movement in said first degree of freedom in response to movement of said at least one elongate element; at least one actuated body disposed at the proximal end of said shaft, said at least one actuated body coupled to said at least one elongate element such that driving said at least one actuated body causes movement of said at least one elongate element; said shaft detachably coupleable to an actuating mechanism for selectively driving said at least one actuated body; said shaft further detachably coupleable to a robotic manipulator arm for moving said shaft in at least one degree of freedom, said manipulator arm supporting said actuating mechanism; wherein said robotic manipulator arm is tart of a remote centering mechanism operable to pivot said shaft about a fixed insertion point.