The present invention provides a method of performing an endoscopic surgical procedure on a target site within a body cavity of a patient. In one embodiment, the method comprises operatively coupling moveable actuator pins of a surgical instrument with a driver of a robotic arm to releasably couple the surgical instrument to the robotic arm. A distal portion of said surgical instrument is introduced through a percutaneous penetration into the body cavity within the patient. The surgical instrument can be pivoted about the percutaneous penetration by moving a proximal portion of said instrument outside the body cavity with a plurality of degrees of freedom of movement using the robotic arm.