Fig. 1

The DaVinci system includes three components, a patient cart, a surgeon console and a vision cart. a There are several patient carts available including the Xi (shown here), X and SP. The surgeon console and vision cart are shared among all models. The system shown here is for simulation and practice and includes two surgeon’s consoles. b The surgeon’s cart has an optical viewing system (white arrow), two manipulation handles (red arrows) and five pedals (green arrows). c The patient cart has the articulating arms which hold the instruments that are inserted into the patient. Reprinted under a Creative Commons license from Chammas J et al. Trans Vis Sci Tech 2017 6:21. doi: https://doi.org/10.1167/tvst.6.3.21