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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 infrastructure Imperial College London
The Hamlyn Centre

Bessemer Building, Kensington,
London SW7, UK

Unit of access Working day