Figure 1.

The DaVinci Xi Surgical System. General view (A) with the mobile instrument cart (white star), the two surgeon's consoles (red stars), and the vision cart (green star). The surgeon's console (B) is equipped with an optical viewing system (white arrow), two telemanipulation handles (red arrow), and five pedals (green arrows) and the mobile instrument cart (C) with four articulated arms, of which two carry the Black Diamond micro forceps (white arrows), one carries the Potts scissors (red arrow), and the fourth the digital stereoscopic camera (green arrow).