Fig. 2From: A development of assistant surgical robot system based on surgical-operation-by-wire and hands-on-throttle-and-stickOverall system of the da Vinci research kit (dVRK). a Controllers. b Stereo viewer. c Master tool manipulators (MTMs). d Foot pedal. e Two webcams for providing images. f Patient side manipulators (PSMs). dVRK is used as operation surgical robot system in this researchBack to article page