fig1

Figure 1. An overview of the Da Vinci SP® surgical system: a single instrument arm, including four instrument drives in which to insert the endoscope and three double-jointed articulating robotic instruments. SP: Single port.
Figure 1. An overview of the Da Vinci SP® surgical system: a single instrument arm, including four instrument drives in which to insert the endoscope and three double-jointed articulating robotic instruments. SP: Single port.
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