A.T. Robertson Commentary Luke 1:74

"To grant unto us that we being delivered out of the hand of our enemies Should serve him without fear," — Luke 1:74 (ASV)

Delivered (ρυσθεντας). First aorist passive participle of an old verb, ρυομα. The accusative case appears, where the dative could have been used to agree with ημιν, because of the infinitive λατρευειν (verse 74)

to serve (from

latros , for hire). But Plato uses the word of service for God so that the bad sense does not always exist.