11.3.1. Introduction

On the clinical da Vinci systems, the surgeon’s console has:

• A stereo display called HRSV (for High Resolution Stereo Video). These are large and heavy aluminum frames with two monitors (CRTs) and mirrors for each eye. Some early dVRK sites received the bare HRSV by itself, usually the Classic SD version. Later on, Intuitive has provided the full surgeon’s console from S systems. These come with higher resolution HRSV and a head sensor.

• A head sensor able to detect if the operator is present or not (their head is against the stereo display or not). By default, the system will not allow teleoperation if the user is not looking at the video.

For the dVRK community, there are a few things to know to use or upgrade the existing HRSV and head sensor. There are also some alternative options such as HMDs with head sensor (see Goovis).