a data transmission link between said digital communications system, said {HEAD ~ links} comprising {TAIL ~ an interconnection} between said supervisor processor and the microprocessor controllers of the master and slave subsystems for each manipulator motion, 
a data transmission link between said digital communications system , said { HEAD ~ links } comprising { TAIL ~ an interconnection } between said supervisor processor and the microprocessor controllers of the master and slave subsystems for each manipulator motion ,
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH