This invention provides surgical tools or instruments for use in minimally invasive telesurgical applications. The instruments typically include a base whereby the instrument is removably mountable on a robotically controlled articulated arm. An elongate shaft extends from the base. A working end of...http://www.google.de/patents/US6394998?utm_source=gb-gplus-sharePatent US6394998 - Surgical tools for use in minimally invasive telesurgical applications
