Date of download: 10/11/2017 Copyright © ASME. All rights reserved. From: Design and Research of a Robotic Aided System for Retinal Vascular Bypass Surgery J. Med. Devices. 2014;8(4):044501-044501-6. doi:10.1115/1.4027230 Figure Legend: System description: (a) photograph of the robotic system and (b) the schematic diagram. (c) A 2 degrees of freedom RCM structure consists of a revolute pair combined with (d) a dual-parallelogram-based mechanism. (e) Custom-made end-effectors of the two manipulators. (f) Control subsystem schematics. (g) The human-machine cooperative surgical procedures and (h) its layout environmental scheme, including ① left manipulator and vibration isolation table, ② right manipulator and vibration isolation table, ③ microscope, ④ patient and operating table, ⑤ main surgeon and his control panel on main surgeon controller, ⑥ nurse, ⑦ surgeon assistant and PC and robot controller, and ⑧ view field display of microscope.