Fig. 2
From: ImitateCholec: A Multimodal Dataset for Long-Horizon Imitation Learning in Robotic Cholecystectomy
Surgical Robot Setup. (a) The teleoperation console, which consists of the MTMs, MTML and MTMR, the VR headset for 3D vision of the da Vinci Si endoscope input and the foot pedals for camera and clutch control, and another pedal to start the optimal and recovery demonstration recordings. (b) The dVRK Si surgical robot, consisting of three surgical arms the PSMs, PSM1-PSM3, using Cadiere forceps on PSM2 and PSM3 for grasping of the gallbladder, and PSM1 with a medium clip applier for clipping and a curved scissors for cutting. On the ECM a 12 mm, 0-degree stereo endoscope is attached. (c) The placement of the ex vivo tissue is enlarged together with the open structure. On the top, the used instruments are shown. Note that this image shows the ex vivo tissue in a relaxed position before setting it into a vertical position with PSM3. Below the ex-tissue is a rack that supports the tissue and prevents it from tearing when it is later placed into a vertical position.
