A robot suitable for micro-surgical application is formed by a robot arm having a position adjustable free end on which are mounted with their respective stators in fixed relationship a master and a slave robot. The position and actuation of the moving element of the master (master floater) and the moving...http://www.google.com.au/patents/US5382885?utm_source=gb-gplus-sharePatent US5382885 - Motion scaling tele-operating system with force feedback suitable for microsurgery
