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. Author manuscript; available in PMC: 2010 May 27.
Published in final edited form as: IEEE Trans Robot. 2007 Dec 1;23(6):1240–1246. doi: 10.1109/TRO.2007.909825

Fig. 7.

Fig. 7

The custom da Vinci surgical system components used in the experiments: (a) master telemanipulator (MTM), (b) setup for measuring force responses of contact with a soft object, and (c) patient-side manipulator (PSM).