Background
The da Vinci robotic surgical telemanipulator has been utilized in several surgical specialties for varied procedures, and the users' experiences have been widely published. To date, no detailed system technical analyses have been performed.

Methods
A detailed review was performed of all publications and patents about the technical aspects of the da Vinci robotic system.

Results
Published technical literature on the da Vinci system highlight strengths and weaknesses of the robot design. While the system facilitates complex surgical operations and has a low malfunction rate, the lack of haptic (especially tactile) feedback and collisions between the robotic arms remain the major limitations of the system. Accurate, preplanned positioning of access ports is essential.

Conclusion
Knowledge of the technical aspects of the da Vinci robot is important for optimal use. We confirmed the excellent system functionality and ease of use for surgeons without an engineering background. Research and development of the surgical robot has been predominant in the literature. Future trends address robot miniaturization and intelligent control design. Copyright © 2012 John Wiley & Sons, Ltd.

Technical review of the da Vinci surgical telemanipulator.

Training and learning robotic surgery, time for a more structured approach: a systematic review

Background
Worldwide, the annual number of robotic surgical procedures continues to increase. Robotic surgical skills are unique from those used in either open or laparoscopic surgery. The acquisition of a basic robotic surgical skill set may be best accomplished in the simulation laboratory. We sought to review the current literature pertaining to the use of virtual reality (VR) simulation in the acquisition of robotic surgical skills on the da Vinci Surgical System.

Current state of virtual reality simulation in robotic surgery training: a review

This article explores immersive virtual reality as a potential educational strategy for nursing education and describes an immersive learning experience now being developed for nurses. This pioneering project is a virtual reality application targeting speed and accuracy of nurse response in emergency situations requiring cardiopulmonary resuscitation. Other potential uses and implications for the development of virtual reality learning programs are discussed.

Immersive virtual reality simulations in nursing education.

Robotic surgery

Background
Although patients benefit considerably from minimally invasive surgery, the use of new instruments such as robotic systems is challenging for surgeons, and extensive training is required.

Method
We developed a computer-based simulator of the da Vinci Surgical System, modelling the robot and designing a new interface.

Results
The simulator offers users a two-handed interface to control a realistic model of the da Vinci robot. The simulator can be applied (i) to provide an environment in which to practice simple surgical skills and (ii) to serve as a visualization platform on which to validate port placement and robot pose for operation planning.

Conclusions
Virtual reality is a useful technique for medical training. The simulator is currently in its early stages, but this preliminary work is promising. Copyright © 2007 John Wiley & Sons, Ltd.

Advanced da Vinci Surgical System simulator for surgeon training and operation planning.

Computer-based simulators offer users the opportunity to learn and practice surgical skills through repeated exercises within safe and realistic learning environments. This paper reports the development of a da Vinci Surgical System simulator, including the creation of a geometrical and kinematic model of the da Vinci system. The SensAble Phantom 3D interface has been improved with a new electromechanical gripper device to control both arms and instruments in a 3D virtual environment. A gripper has been developed to replace the standard stylus to clone positions, orientations and opening movements, with a design inspired by the handles of the da Vinci surgeon console. A simulation kernel has also been developed to ensure that motions are performed by inverse kinematics. The simulation of kinematic constraints, motions, and collisions will provide realistic training, which is essential for inexperienced users.

Design and Development of a Da Vinci Surgical System Simulator

Is Smaller Workspace a Limitation for Robot Performance in Laparoscopy

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Advanced da Vinci Surgical System simulator for surgeon training and operation planning.

Design and Development of a Da Vinci Surgical System Simulator

Is Smaller Workspace a Limitation for Robot Performance in Laparoscopy