The prototype medical robot developed (Fig. 1) is based on a CRS industrial robot with six degrees of freedom, a force sensor, a teach mode permitting manual learning of a “freehand” scan, and a replay mode of the manually taught path. (Evaluation of a Robot’s Performance for Medical 3D-Ultrasound Imaging)

This procedure is called program touch-up and is normally carried out in the teach mode of operation. (OSHA technical manual)

An application of robots where teach mode is indispensable is spray painting. (International Journal of Advanced Robotic Systems)