Logo
  • 1. Introduction
  • 2. Components of the kit
  • 3. Hardware setup
  • 4. Firmware
  • 5. Software
  • 6. Connectivity
  • 7. Configuration files
  • 8. Calibration
  • 9. Usage
  • 10. Development
  • 11. Video
  • 12. Troubleshooting
  • 13. References
    • 13.1. Acronyms
    • 13.2. Generations of da Vinci systems
    • 13.3. Publications
    • 13.4. Videos
    • 13.5. Links
    • 13.6. Related systems
      • 13.6.1. Commercial
        • 13.6.1.1. RAMIS
        • 13.6.1.2. Simulation
        • 13.6.1.3. Haptic systems
        • 13.6.1.4. Bronchoscopy
        • 13.6.1.5. Orthopedic
        • 13.6.1.6. Other
      • 13.6.2. Research systems
dVRK
  • 13. References
  • 13.6. Related systems
  • Edit on GitHub

13.6. Related systems

Warning

In no specific order, not endorsed, likely incomplete, incorrect and outdated!

13.6.1. Commercial

13.6.1.1. RAMIS

Intuitive: da Vinci

  • https://www.intuitive.com/en-us/products-and-services/da-vinci

  • https://www.linkedin.com/company/intuitivesurgical

  • Location: California, USA

  • Type: RAMIS, teleoperated

Medtronic: Hugo RAS

  • https://www.medtronic.com/covidien/en-au/robotic-assisted-surgery/hugo-ras-system.html

  • https://www.linkedin.com/showcase/medtronic-robotic-assisted-surgery

  • Location: USA

  • Type: RAMIS, teleoperated

  • Notes: Wheeled separate patient side manipulators, physical RCM. Surgeon’s side controllers similar to da Vinci (7-dofs, cartesian), flat panel display

    ../../_images/medtronics-hugo.jpg

    Source: Medtronic

Medicaroid: Hinotori

  • https://www.medicaroid.com

  • https://www.linkedin.com/company/medicaroid/

  • Location: Kobe, Japan

  • Type: RAMIS, teleoperated

  • Notes: Four patient side manipulators, software RCM, mounted on single serial robot for positioning. Surgeon’s side with fixed stereo display (ala HMD), two 7-dofs haptic arms (similar to da Vinci)

    ../../_images/medicaroid-hinotori.jpg

    Source: Medicaroid

CMR Surgical: Versius

  • https://us.cmrsurgical.com/

  • https://www.linkedin.com/company/cmrsurgical

  • Location: Cambridge, UK

  • Type: RAMIS, teleoperated

  • Notes: Wheeled separate patient side manipulators, software RCM. Surgeon’s side controllers in cartesian space, flat panel display and stereo glasses

    ../../_images/cmr-versius.jpg

    Source: CMR

SSII: Mantra

  • https://ssinnovations.com/ssi-mantra/

  • https://www.linkedin.com/company/ssinnovationsgroup

  • Location: Gurugram, Haryana, India

  • Type: RAMIS, teleoperated

  • Notes: Up to 5 patient side manipulators on separate wheeled-cart, physical RCM. Surgeon’s side with 3D flat panel and glasses, 7-dof haptic arms?

    ../../_images/ssi-mantra.jpg

    Source: SSI Mantra (linkedin)

Cornerstone Robotics: Sentire

  • https://www.csrbtx.com/en/product_center/

  • https://www.linkedin.com/company/cornerstone-robotics-limited/

  • Location: Hong Kong

  • Type: RAMIS, teleoperated

  • Notes: Similar to da Vinci X

    ../../_images/cornerstone-sentire.jpg

    Source: CUHK

Moon surgical: Maestro

  • https://moonsurgical.com/maestro-system

  • https://www.linkedin.com/company/moonsurgical

  • Location: Paris, France/ San Carlos, California, USA

  • Type: RAMIS, collaborative control (and autonomous)

  • Notes: ScoPilot (similar to AESOP) assistant holding endoscope for manual surgery

    ../../_images/moon-maestro.jpg

    Source: Moon Surgical

Revolve Surgical: R1

  • https://www.revolvesurgical.com

  • https://www.linkedin.com/company/revolve-surgical

  • Type: RAMIS, collaborative control

  • Wristed instruments held by mechanical RCMs. Surgeon holds the instruments using wristed handle

    ../../_images/revolve-r1.jpeg

    Source: Revolve Surgical

Vicarious Surgical Inc

  • https://www.vicarioussurgical.com/

  • https://www.linkedin.com/company/vicarious-surgical

  • Location: Waltham, Massachussets, USA

  • Type: RAMIS, teleoperated

  • Notes: Surgeon’s side controllers in cartesian space (off-the-shelf ForceDimension?), flat panel display. Patient side single port, two manipulators, folded stereo camera

    ../../_images/vicarious.jpg

    Source: Annual Report 2023 Form 10-K (NYSE:RBOT)

Asensus Surgical: Senhance, LUNA

  • https://www.asensus.com/senhance

  • https://www.linkedin.com/company/asensus-surgical-inc/

  • Location: Durham, North Carolina, USA

  • Type: RAMIS, teleoperated

  • Notes: Wheeled separate patient side manipulators, software RCM. Senhance had surgeon’s side manipulator emulate laparoscopic instruments (not cartesian). LUNA seems use free hand system (optical or magnetic tracking?), flat panel display

Titan Medical: Enos

  • https://titanmedicalinc.com/

  • Location: Toronto, Ontario, Canada

  • Type: RAMIS

  • Notes: Surgeon’s side controllers in cartesian space (off-the-shelf ForceDimension?), flat panel display. Patient side single port, two manipulators, articulated stereo camera

    ../../_images/titan-enos.jpeg

    Source: moby

Johnson & Johnson MedTech: Ottava

  • https://thenext.jnjmedtech.com/surgical-robotics

  • https://www.linkedin.com/company/johnson-&-johnson-medtech/

  • Type: RAMIS, teleoperated

  • Notes: Table-mounted separate patient side serial manipulators, software RCM Based on snapshots, stereo display with eye piece (ala da Vinci)

Virtuoso Surgical: Virtuoso

  • https://virtuososurgical.net/

  • https://www.linkedin.com/company/virtuoso-surgical-inc/

  • Location: Nashville, Tennessee, USA

  • Type: RAMIS, teleoperated

  • Notes: Patient side single port, concentric tubes, mono camera. Surgeon’s side manipulator emulate laparoscopic instruments (not cartesian)

    ../../_images/virtuoso.png

    Source: Virtuoso

Rob Surgical: Bitrack

  • https://www.robsurgical.com/

  • https://www.linkedin.com/company/rob-surgical

  • Barcelona, Spain

  • RAMIS, teleoperated

  • Notes: up to four patient manipulators, software RCM, uses off-the-shelf instruments (no articulated wrist?). Surgeon’s side use 2 haptic devices and flat panel display

    ../../_images/rob-surgical-bitrack.png

    Source: Rob Surgical

Revo Surgical: Revo-i

  • http://revosurgical.com

  • https://www.linkedin.com/showcase/revo-surgical-solution

  • Seoul, South Korea

  • RAMIS, teleoperated

  • Notes: similar to da Vinci Si

    ../../_images/revo-i.png

    Source: Revo Surgical

13.6.1.2. Simulation

Surgical Science: FlexVR

  • https://surgicalscience.com/simulators/flexvr/

  • https://www.linkedin.com/company/surgical-science/

  • Location: Göteborg, Sweden

  • Type: RAMIS simulator

13.6.1.3. Haptic systems

ForceDimension: Sigma, Omega

  • https://www.forcedimension.com

  • https://www.linkedin.com/company/forcedimension

  • Location: Switzerland

  • Types: haptic devices using parallel platform for position, gripper is motorized, up to 7 dofs motorized

    ../../_images/force-dimension.jpg

    Source: Force Dimension

Haption: Virtuoso

  • https://www.haption.com

  • https://www.linkedin.com/company/haption

  • Location: France

  • Types: haptic devices using serial arm, up to 6 dofs motorized

    ../../_images/haption.jpg

    Source: Haption

Quanser: HD2

  • https://www.quanser.com/products/hd2-high-definition-haptic-device

  • https://www.linkedin.com/company/quanser

  • Location: Ontario, Canada

    ../../_images/quanser.jpg

    Source: Quanser

13.6.1.4. Bronchoscopy

Noah Medical: Galaxy

  • https://www.noahmed.com/

  • https://www.linkedin.com/company/noahmed

  • Location: California, USA

  • Type: flexible robot, used with C-Arm/CBCT

Intuitive: Ion

  • https://www.intuitive.com/en-us/products-and-services/da-vinci

  • https://www.linkedin.com/company/intuitivesurgical

  • Location: California, USA

  • Type: flexible robot, used with C-Arm/CBCT

Johnson & Johnson MedTech: Monarch Quest

  • https://thenext.jnjmedtech.com

  • https://www.linkedin.com/company/johnson-&-johnson-medtech/

  • Location: New Jersey, USA

  • Type: flexible robot, used with C-Arm/CBCT

13.6.1.5. Orthopedic

Stryker: Mako

  • https://www.stryker.com/us/en/joint-replacement/systems/Mako_SmartRobotics_Overview.html

  • https://www.linkedin.com/showcase/stryker-joint-replacement

  • Type: Open orthopedic surgery, knee

Johnson & Johnson: Velys

  • https://www.jnjmedtech.com/en-US/patient/velys

  • Type: Open orthopedic surgery, knee/hip

Think Surgical: TMINI

  • https://thinksurgical.com/

  • https://www.linkedin.com/company/thinksurgical/

  • Location: Freemont, California, USA

  • Type: Open orthopedic surgery, knee

Curexo: Cuvis {joint,spine}

  • https://www.curexo.com/

  • https://www.linkedin.com/company/curexo

  • Location: Seoul, South Korea

  • Type: Open surgery, knee and spine (different robotic systems)

eCential Robotics

  • https://www.ecential-robotics.com/en-us

  • https://www.linkedin.com/company/ecential-robotics

  • Location: Grenoble, France

  • Type: Open surgery, seems to use Kuka medical arm and optical tracker

13.6.1.6. Other

AcuSurgical: Luca

  • https://acusurgical.com

  • https://www.linkedin.com/company/acusurgical/

  • Location: Montpellier, France

  • Type: Eye surgery, teleoperated

  • Notes: 2 patient side manipulators

MMI: Symani

  • https://www.mmimicro.com/our-technology/symani-surgical-system/

  • https://www.linkedin.com/company/mmimicro/

  • Location: Jacksonville, Florida, USA

  • Type: Open microsurgery

  • Notes: 2 patient side manipulators with wrist (7 dofs), direct line of sight, free hand joysticks?

13.6.2. Research systems

RavenII

  • https://robotsguide.com/robots/ravensurgical

  • https://applieddexterity.com/

  • Type: RAMIS

  • Notes: Patient side, physical RCM, compatible with da Vinci instruments. Surgeon’s side uses off-the-shelf haptic devices (ForceDimension). No camera nor display

SuPER

  • https://www.kinovarobotics.com/resource/enhancing-robotic-surgery-with-a-plug-and-play-multi-robot-surgical-platforms

  • Type: RAMIS

  • Notes: da Vinci S/Si instruments mounted on serial manipulator (Kinova). Surgeon’s side uses off-the-shelf haptic devices (ForceDimension). No camera nor display

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