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  • In FIG. 4, similar parts are denoted by similar reference numerals with a suffix such as -1,A slave manipulator 3L is disposed on a base 21L fixed to an operating table 1 and includes a plurality of arms 22L and driving units 23L, which are combined into an articulated structure.On an end of the slave manipulator 3L, there is disposed a tip part 4L including a treating tool such as a forceps, a
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