Minimally invasive surgical system

A method of inserting a spinal rod into yokes of at least two pedicle screw assemblies, the method comprising:

• placing a first yoke manipulator around a yoke of a first pedicle screw assembly, the first yoke manipulator having an axial entrance slot aligned on one side of a gap in the yoke of the first pedicle screw assembly and an axial exit slot aligned on the other side of the gap, the slots having a length longer than a depth of the gap;
• placing a second yoke manipulator around a yoke of a second pedicle screw assembly, the second yoke manipulator having an axial entrance slot aligned on one side of a gap in the yoke of the second pedicle screw assembly and an axial exit slot aligned on the other side of the gap, the slots having a length longer than a depth of the gap;
• pivotally connecting a spinal rod to a spinal rod inserter about a pivot axis;
• aligning a shaft of the spinal rod inserter with the spinal rod so that a longitudinal axis of a distal portion of the shaft is coaxial with a longitudinal axis of the spinal rod;
• orienting the aligned shaft and spinal rod to extend generally downward and at an oblique angle to the axis of the first yoke manipulator;
• advancing a distal end portion of the aligned spinal rod through the entrance and exit slots of the first yoke manipulator with the coaxially aligned shaft and spinal rod still extending generally downward and at an oblique angle relative to the axis of the yoke manipulator to allow the pivot axis to be positioned between the entrance slots of the first and second yoke manipulators;
• passing the distal end portion of the aligned spinal rod through at least the entrance slot of the second yoke manipulator;
• positioning the distal end portion of the aligned spinal rod in the gap in the yoke of the second pedicle screw assembly;
• and
• positioning a proximate end portion of the spinal rod in the gap in the yoke of the first pedicle screw assembly.