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For instance, the communication mechanism between the master (ARM) and the slaves (coprocessors) is one way.
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The surgeon manipulates the master arm.
Four basic motion modes for manipulation of the slave arm are proposed: The master arm manipulates the slave arm.
The other was a master forceps operation of the master arm with a dummy forceps and a virtual trocar.
The slave arm motion is controlled at the same or reduced scale of motion of the master arm.
The master arm with the dummy forceps is shown in Figure 6.
Two types of operating methods of the master arm were prepared.
The master arm was a three-dimensional pointing device made by SensAble Technologies, Inc. PHANTOM OmniInc. PHANTOM Omni
One was conventional direct operation of the master arm with a pen-shape device.
Furthermore, after the insert motion, the master slave motions were achieved by the master arm with the dummy forceps and the virtual trocar.
Figure 7 shows the joint configuration of the master arm with the dummy forceps and the virtual trocar.
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