Minimally Invasive Surgical System

A method of inserting a spinal rod into yokes of first and second pedicle screw assemblies that have been anchored to bones, the method comprising:

• connecting a spinal rod to a distal end portion of a spinal rod inserter shaft;
• orienting the spinal rod connected to the spinal rod inserter shaft distal end portion to extend generally obliquely downward relative to a longitudinal axis of the first yoke manipulator;
• advancing the distal end portion of the spinal rod obliquely downward relative to the first yoke manipulator longitudinal axis through the first yoke manipulator entrance opening, into an interior space of the first yoke manipulator, and through an exit opening of the first yoke manipulator while maintaining the distal end portion of the spinal rod inserter shaft outside of the first yoke manipulator;
• and
• advancing the distal end portion of the spinal rod out from the exit opening of the first yoke manipulator toward the second yoke manipulator and through at least an entrance opening of a second yoke manipulator connected to the second pedicle screw assembly.