Tasks using manual tools in SPL, several robotic systems were con- structed to provide surgeons an intuitive. big workspace, enhanced distal dexterity and high payload ca- pabilities. Toward the aforementioned ideal. The preferred viewing range is 120–170 mm from the arm entrance as in Fig. 7. When the CS-1 is . Hand–eye coordination abil- ity gives us flexibility, dexterity, and robustness of movement that no machine can match. On the other hand, robot vision requires to look at the system level perspective. visual servo control,” IEEE Transactions on Robotics and Automation, vol. 17, pp. 507–515, 2001.  P. I. Corke, Visual . Dec 19, 2014. On the other hand. 66 the performance of the manipulation arms of a sur-. 67 gical robot could be characterized by the distal dex-. 68 terity and payload. 168 are actuated by onboard servomotors with bevel gears. 169 and two proximal DoFs actuated by external motors. 170. A payload capability of 5N is .