Fig. 4From: Development of stereo endoscope system with its innovative master interface for continuous surgical operationOverall system of the da Vinci research kit (dVRK). a Controllers. b Stereo viewer. c Master tool manipulators (MTMs). d Foot pedal. e Patient side manipulators (PSMs). f Installed dVRK. dVRK is used as operation surgical robot system in this researchBack to article page