title: Technical review of the da Vinci surgical telemanipulator.
abstract: 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.
  
  
  CONCLUSIONS
  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.
authors.affiliation: EndoCAS Centre, Università di Pisa, Italy.
authors.forename: C
authors.initials: C
authors.lastname: Freschi
authors.forename: V
authors.initials: V
authors.lastname: Ferrari
authors.forename: F
authors.initials: F
authors.lastname: Melfi
authors.forename: M
authors.initials: M
authors.lastname: Ferrari
authors.forename: F
authors.initials: F
authors.lastname: Mosca
authors.forename: A
authors.initials: A
authors.lastname: Cuschieri
mesh_terms: D004867:Equipment Design; D019544:Equipment Failure Analysis; D012371:Robotics / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*; D013673:Technology Assessment, Biomedical; D017216:Telemedicine / Q000295:instrumentation*; D014584:User-Computer Interface