A master station of a master/slave surgery system, adapted to be manually manipulated
by a surgeon to, in turn, control motion at a slave station at which is disposed
a surgical instrument in response to the surgeon manipulation, the master station
comprising: a lower positioner assembly; upper positioner assembly supported over
the lower positioner assembly and rotational relative to the lower positioner assembly
to enable lateral side-to-side surgeon manipulation; and an arm assembly having
a hard assembly at its distal end for engagement by the surgeon's hand, and a proximal
end pivotally supported from the upper positioner assembly to enable an orthogonal
forward-and-back surgeon manipulation in a direction substantially orthogonal to
the lateral surgeon manipulation.