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. 2014 Feb;28(1):5–10. doi: 10.1055/s-0034-1368161

Fig. 1.

Fig. 1

The setup for the laboratory experiment used the da Vinci Surgical System (Intuitive Surgical, Sunnyvale, CA). Instrumentation included two robotic arms employing Black Diamond Micro forceps (Intuitive Surgical) and a high definition, 0-degree endoscope.