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Image Da Vinci Research Kit (DVRK)

Da Vinci Research Kit (DVRK)

The da Vinci Research Kit (dVRK) is a research platform based on the da Vinci Surgical System developed and distributed by Intuitive Surgical Inc. The kit is a collection of first-generation da Vinci components that can be used to assemble a telerobotics platform which provides complete access to all levels of control via open source electronics and software. The platform consists of a surgeon’s console to tele-operate the surgery and a patient side system where the surgery takes place. The surgeon’s console consists of two Master Tool Manipulators, each having 8 DOF for dexterous and natural hand manipulation, and a foot-pedal tray. On the other side at the patient’s end, there are two Patient Side Manipulators, which are controlled by the two Master Tool Manipulators. The interface between the two components is based on custom hardware consisting of motor-controllers, coupled with FPGAs and connected to a PC running the control loops.The DVRK can be exploited for interfacing with different master manipulators, for testing force-feedback strategies, of for the integration on novel tools for surgery.

Key features:
  • RS-232 (over USB) and Bluetooth communication
  • External viewer
  • Open access to all level of control
  • Teleoperation robot
  • Console + two robotic arms (8DOF)
Possible applications:
  • Better estimation of interaction forces during surgical procedures (e.g. integration of haptic feedbacks)
  • Development of innovative control strategies (e.g. new algorithms for dynamic parameters identification)
  • Development of innovative robotic tools (e.g. Surgical Manipulation, Surgical Interventions/Tasks, Haptics)

Technical specifications

Configuration:1:(2MTM + 3PSM + 1ECM); 2: (2MTM + 2PSM + 1ECM )
Number Available:2
DVRK Generation:1st

Access information

Corresponding infrastructureImperial College London
The Hamlyn Centre
LocationBessemer Building, Kensington, London SW7, UK
Unit of accessWorking day

TERRINet OFFICIAL STATEMENT

Coronavirus pandemic

Dear TERRINet applicants and future users,

we sincerely hope that you are staying safe in these challenging times that we are facing at the moment. The current emergency due to the COVID-19 pandemic has deeply changed our lives. The recent and progressive lock-down forced us to reorganize our working routines in smart working modalities and to shut down the TERRINet infrastructures. Therefore, we regret to inform you that Trans-National Access has been suspended until further notice.

However, we would like to reassure you that we will keep evaluating the proposals submitted for Trans-National Access regularly. Indeed, despite access cannot be allowed for a while, the selected users will be queued and access will take over gradually as soon as the situation will allow it. We also inform you that a special application mechanism has been settled in TERRINet to mitigate the delays that will occur due to the COVID-19.

The Open Call no. 4 is currently open: we are accepting proposals under the new mechanism called "first come, first served". Proposals are directly forwarded to the evaluation panel as soon as they are submitted. Proposals submitted closer to the deadline will be dispatched after that. The deadline for the Open Call n.4 will be on May 31, 2020.

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