Medical Robots: Current Systems and Research Directions

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="401613.fig.003a" src="https://static.hindawi.com/articles/jr/volume-2012/401613/figures/401613.fig.003a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Da Vinci Si patient-side cart</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="401613.fig.003b" src="https://static.hindawi.com/articles/jr/volume-2012/401613/figures/401613.fig.003b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Da Vinci EndoWrist and controllers</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="401613.fig.003c" src="https://static.hindawi.com/articles/jr/volume-2012/401613/figures/401613.fig.003c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>FreeHand by Freehand 2010 Ltd.</td></tr></table></td></tr><tr class="fig-image" id="d"><td><img alt="401613.fig.003d" src="https://static.hindawi.com/articles/jr/volume-2012/401613/figures/401613.fig.003d.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(d) </b>Telelap ALF-X by SOFAR S.p.A</td></tr></table></td></tr></table>

<table>Laparoscopy robots. The da Vinci Si, by Intuitive Surgical Inc. (a) Cart and (b) image mosaic showing the tool tips with EndoWrist articulation, and the instrument controls. (c) FreeHand, a next-generation endoscope holder. (d) A computer model of the Telelap ALF-X, by SOFAR S.p.A. The da Vinci images are ©2012 Intuitive Surgical, Inc. The FreeHand image is ©2012 Freehand 2010 Ltd. The Telelap ALF-X image is ©2012 SOFAR S.p.A. All rights reserved.</table>

Journal of Robotics

Medical Robots: Current Systems and Research Directions

Figure 3