MOUNTAIN VIEW, CALIFORNIA
Da VINCI TELEROBOTIC SURGICAL SYSTEM
FIGURE 1: The Da Vinci Telerobotic Surgical System permits the surgeon to perform an operation
on a patient from a remote site. Currently, the FDA requires the surgeon to sit physically in the
same room as the patient on whom he is operating.
FIGURE 2: The Da Vinci Telerobotic Surgical System consists of three parts:
A. the surgeon’s console;
B. the video electronics tower; and
C. the robotic’s tower supporting three robotic arms.
FIGURE 3:The surgeon sits at the computer console.He views a virtual operative
field through a binocular 3-dimensional imaging system. He sits in a comfortable
ergonomically correct position with arms supported by a rest. His feet activate
several peddles that control various aspects of the robot’s movements.
FIGURE 4:The surgeon’s console contains the binocular 3-dimensional imaging system.
The surgeon immerses himself within a virtual operative field that is viewed through
the binocular viewing finders.His arms are supported by the arm rest. Foot peddles
control various adjustments of the robotic arms and instruments.
FIGURE 5: The surgeon inserts his hands into a “master” that translates motions
of his hands into motions of the robotic arms and hand-like instruments.
The surgeon acts as the “master” and the robot as the “slave” in this telerobotic
“master-slave” system.Da Vinci only duplicates the motions of the surgeon.
Da Vinci does not initiate any actions on its own volition.
FIGURE 6: The robotics tower supports the three robotic arms. This photograph
shows the Da Vinci robotics tower on the right and an AESOP 3000
(Computer Motion Inc, Santa Barbara, CA), a voice controlled robotic camera holder,
on the left.
FIGURE 7: The Da Vinci robotics tower rolls next to the patient who is on the
operating room table.
FIGURE 8: The Da Vinci robotic arms hold two surgical instruments and a video telescope.
The hand-like surgical instruments move with 7 degrees of freedom and two degrees of axial
rotation.The 12 mm video telescope contains twoseprate 5 mm telescopes that are attached to
two separate 3 chip video cameras.The offset of the two telescopes permit a telecast of
a true 3-dimesional image through the binocular imaging systemThe surgeon sees a 3-dimensional
virtual operative field.
FIGURE 9: The three robotic instruments are inserted into the patient’s abdomen or chest
through three laparoscopic trocars. The abdomenor chest are distended with carbon dioxide
to give the surgeon space in which to work. The trocars have valves that prevent the gas
FIGURE 10: The robotic arms are attached to the trocars. The robotic arms are then
inserted into the patient’s abdomen or chest.
FIGURE 11: This photograph shows the connection between the robotic arm and the
laparoscopic trocar. The robotic instrument enters the patient through the metal trocar.
FIGURE 12: This photpgraph shows two robotic instruments within a patient’s abdomen.
The instrument on the right is an electrocautery hook that cuts tissue. The instrument
on the left is a Cadiere grasper that is used retract the intestines or other structure.
The hole in the background is a hernia through an old incision.