The Yoga of Renunciation

Krishna describes how yogis perform actions: they use body (kāyena), mind (manasā), intellect (buddhyā), and senses (indriyaiḥ) to perform actions, but they've abandoned attachment (saṅgaṁ tyaktvā). The key phrase is 'ātmaśuddhaye'—for self-purification. This means yogis don't act for personal gain or to satisfy desires—they act for purification of the self. Actions are performed using all instruments—body, mind, intellect, senses—but without attachment to results. This is the practical method of karma yoga: use all your faculties, but act for purification, not for personal benefit.