Abstract: A method of operating a manipulator arm comprising a manipulator interface configured to removably couple with and transmit actuation force to a medical instrument includes mounting a cannula to a cannula mount coupled to the manipulator arm; mounting a medical instrument to the manipulator interface; inserting a shaft of the medical instrument through an entry guide mounted to the cannula; rotating the manipulator interface and the medical instrument relative to the cannula mount; and rotating the entry guide relative to the cannula mount about a longitudinal axis of the cannula.

Abstract: A magnetic flip-flop circuit, predominantly used for hydrophone preamplifs, which allows switching capabilities at a remote location while minimizing the number of conductors. In particular, the circuitry is a magnetic flip-flop system which has a multiple-pole, double-throw latching magnetic relay in combination with a single-pole, nonlatching magnetic relay. The combination is coupled to allow a switching of the magnetic latching relay by merely removing the voltage from a single conductor.

Abstract: Calibration means, including an optiosolator, for a hydrophone preamplifier hich couples to a remote DC supply source and a remote load through a long, two-wire cable. The output signal of the optoisolator is fed to the amplifier in series with the hydrophone output signal, the input to the optoisolator being an AC calibration signal. In an array of preamplifiers, the same calibration signal is fed to all the preamplifiers by connecting the optoisolators in series with each other and the source of the AC calibration signal.