Compact master-slave manipulator

Claim 1

A COMPACT MASTER-SLAVE REMOTE-CONTROL MANIPULATOR ADAPTED FOR FULL RANGE OPERATION WITH MINIMUM HEAD SPACE REQUIREMENTS IN THE SLAVE COMPARTMENT, SAID MANIPULATORO COMPRISING A HORIZONTAL SUPPORT, A MASTER ARM PIVOTALLY CONNECTED TO ONE END OF SAID SUPPORT AND A SLAVE ARM PIVOTALLY CONNECTED TO THE OTHER END OF SAID SUPPORT, HANDLE MEANS AT THE LOWER END OF SAID MASTER ARM AND GRASPING MEANS AT THE LOWER END OF SAID SLAVE ARM MOVEABLE IN RESPONSE TO MANIPULATIONS OF SAID HANDLE MEANS; SAID MASTER ARM INCLUDING A RELATIVELY STATIONARY PORTION FIXED RELATIVE TO MOVEMENT ALONG ITS LONGITUDINAL AXIS AND AN ELONGATED MOVEABLE PORTION ROTATABLE RELATIVE TO SAID STATIONARY PORTION OF THE MASTER ARM AND MOVEABLE LONGITUDINALLY RELATIVE THERETO; SAID SLAVE ARM INCLUDING A RELATIVELY STATIONARY PORTION COMPRISING AN OUTER TUBE FIXED RELATIVE TO MOVEMENT ALONG ITS LONGITUDINAL AXIS, AN INTERMEDIATE TUBE TELESCOPED WITHIN SAID OUTER TUBE, SAID INTERMEDIATE TUBE BEING ROTATABLE RELATIVE TO SAID OUTER TUBE AND MOVEABLE LONGITUDINALLY RELATIVE THERETO, AND AN INNER TUBE TELESCOPED WITHIN SAID INTERMEDIATE TUBE, SAID INNER TUBE BEING ROTATABLE WITH THE INTERMEDIATE TUBE AND MOVABLE LONGITUDINALLY RELATIVE THERETO; THE RELATIVELY MOVEABLE PORTIONS OF SAID SLAVE ARM BEING EXTENSIBLE AND RETRACTABLE IN RESPONSE TO LIKE MOVEMENT OF THE RELATIVELY MOVEABLE PORTION OF THE MASTER ARM, THE COMBINED MOVEMENT OF THE MOVEABLE PORTIONS OF T HE SLAVE ARM BEING EQUAL IN EXTENT TO THE MOVEMENT OF THE MOVEABLE PORTION OF THE MASTER ARM.