a manually operated separate servo actuated manipulator master subsystem for each slave subsystem, said {HEAD ~ master subsystem} being located remote from {TAIL ~ said slave subsystem} and operatively connected thereto, said master subsystem comprising: 
a manually operated separate servo actuated manipulator master subsystem for each slave subsystem , said { HEAD ~ master subsystem } being located remote from { TAIL ~ said slave subsystem } and operatively connected thereto , said master subsystem comprising :
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD OTH REL REL REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH