A medical system that allows a medical device to be controlled by one of two input devices. The input devices may be consoles that contain handles and a screen. The medical devices may include robotic arms and instruments used to perform a medical procedure. The system may include an arbitrator that...http://www.google.co.uk/patents/US6892112?utm_source=gb-gplus-sharePatent US6892112 - Modularity system for computer assisted surgery
