Move your pointer inside the master controller zone (left). Every human hand has a natural 8–12 Hz physiological tremor, simulated here and added on top of your own motion — that's the raw signal a real master manipulator would pick up. Before it reaches the slave instrument, the console can run it through a low-pass tremor filter (removes the fast, small-amplitude jitter, keeps your slower intentional motion) and a motion scale reducer (your hand travels N mm, the instrument tip travels N/scale mm).
raw(t) = hand(t) + tremor(t)
filt(t) = lowpass(raw, τ≈120ms) [only if filter is On]
slave = target ± filt(t) / scale
- Tremor filter — toggling it off feeds the raw, jittery signal straight through unfiltered, exactly like holding a scalpel by hand.
- Motion scale — 1:1 reproduces your hand movement exactly; 10:1 shrinks it tenfold, turning a centimetre of hand travel into a millimetre of instrument travel.
- The faint red ghost tip in the surgical field always shows the unfiltered, unscaled (1:1) reference — what would happen if the tool were bolted directly to your hand with no robotic mediation.
- Hold the bright instrument tip inside the target's capture ring, then pull it back out to log a docking attempt — the readout keeps the closest approach as that attempt's precision error.
This is the core trick behind real systems like da Vinci: the surgeon's hand never touches the patient. Filtering and scaling turn ordinary human motion into movement steadier and finer than the unaided hand can achieve.