A robotic system for minimally invasive surgery includes a surgical tool and a docking station for restraining movement of the surgical tool to four degrees of freedom about an incision point in a patient. The docking station includes a plurality of actuators for moving the surgical tool relative to...http://www.google.se/patents/US6325808?utm_source=gb-gplus-sharePatent US6325808 - Robotic system, docking station, and surgical tool for collaborative control in minimally invasive surgery
