Fig. 4From: Sun beams on hysterectomiesa Da Vinci 2005 steering unit, b working position of surgeon, c finger movements for robotic action of instruments. Patient-side cart: d three-dimensional rapid robotic arms ready to be connected to the three active instruments. Detachable instruments: e robotic arm with one working channel. Three-dimensional vision system: f abdominal situs at suturingBack to article page