1.4. History and groups

The dVRK controllers have been built in batches as the community grew over the years. You can locate all these sites on the dVRK Google Map.

Publications related to the dVRK are listed in the publications page. This page includes the dVRK community publications (work using the dVRK).

Note

CA stands for Classic Arm controller, CS for Classic SUJ controller and SA for S/Si Arm controller. Details regarding the different builds can be found in the controller versions page.

	Year	University	PI(s)	System(s)	Arm	SUJ
1	2004	Johns Hopkins University	Peter Kazanzides	dVRK	CA0 CA1
	2014		Russell Taylor	da Vinci	CA3	CS0
	2022			da Vinci Si	CA9 SA1	SS0
2	2012	Worcester Polytechnic Inst.	Greg Fischer	dVRK	CA1	CS1
				da Vinci
3	2012	Stanford University	Allison Okamura	dVRK	CA1
4	2012	University of British Columbia	Tim Salcudean	da Vinci	CA1
5	2013	U.C. Berkeley	Ken Goldberg	dVRK	CA2
			Pieter Abbeel
6	2013	Carnegie Mellon University	Howie Choset	dVRK	CA2
7	2013	Vanderbilt University ARMA	Nabil Simaan	dVRK	CA2
8	2013	Clemson University [1]	Venkat Krovi	dVRK	CA2
9	2013	University W. Ontario CSTAR	Rajni Patel	da Vinci	CA2
10	2013	Hospital for Sick Kids, Toronto	Jim Drake, M.D.	dVRK	CA2
11	2013	Intuitive Surgical Research	Simon DiMaio	da Vinci	CA2
12	2014	Imperial College	Guang-Zhong Yang	da Vinci	CA3
	2016		Philip Pratt		CA5
13	2014	University College, London	Dan Stoyanov	da Vinci	CA3
	2019			da Vinci	CA7	CS1
14	2014	Scuola Superiore Sant’Anna	Arianna Menciassi	dVRK CA3
15	2014	Seoul National University	Sungwan Kim	dVRK	CA3
16	2014	Óbuda University, Budapest	Tamás Haidegger	da Vinci	CA3
17	2015	Wayne State University	Abhilash Pandya [2]	da Vinci	CA4
18	2015	University of Texas Austin ARTS [3]	Farshid Alambeigi	da Vinci	CA4
19	2015	University of Verona	Paolo Fiorini	da Vinci	CA4	CS1
20	2015	National Institutes of Health	Sheng Xu	da Vinci	CA4
21	2016	Management Center Innsbruck	Yeongmi Kim	da Vinci
22	2016	Case Western Reserve University	Cenk Cavusoglu [4]	da Vinci	CA5
23	2016	U.C. San Diego	Michael Yip [5]	da Vinci	CA5 CA7
	2021		Tania Morimoto [6]	da Vinci	CA8	CS1
24	2016	Ben Gurion University	Ilana Nisky	dVRK	CA5
25	2016	University of Naples	Bruno Siciliano	da Vinci	CA5	CS1
			Fanny Ficuciello
26	2016	Cleveland Clinic	Robb Colbrunn	da Vinci	CA5
27	2016	Politecnico di Milano	Elena De Momi	da Vinci	CA5	CS1
28	2016	Chinese University of Hong Kong	Yunhui Liu	dVRK	CA5
	2017		Philip Chiu	da Vinci	CA6
			Samuel Au
29	2017	University of Texas Austin HeRo	Ann Majewicz Fey	dVRK	CA6
30	2017	University of Leeds	Pietro Valdastri	da Vinci	CA6	CS1
31	2017	Hochschule Reutlingen	Oliver Burgert	da Vinci	CA6
32	2019	University of Maryland	Axel Krieger	da Vinci	CA7
33	2019	University of Alberta	Mahdi Tavakoli	dVRK	CA7
34	2019	Purdue University	Juan Wachs	da Vinci	CA7
			Denny Yu
35	2019	Wake Forest	Philip Brown	da Vinci	CA7
36	2019	surgnova.com	Jindi Zhang	MTMs	CA7
37	2021	University of Illinois, Chicago	Liaohai Leo Chen	da Vinci	CA8	CS1
38	2021	University of Twente	Sarthak Misra	dVRK	CA8
39	2021	University of Torino	Alberto Arezzo	da Vinci	CA8	CS1
40	2022	New York University	S. Farokh Atashzar	dVRK	CA8
41	2022	The University of Utah	Alan Kuntz	dVRK	CA8 CA9
42	2022	Vanderbilt University MAPLE	Jie Ying Wu	dVRK-Si	CA9 SA1
43	2023	Max Planck Institute	Guido Caccianiga	da Vinci	CA9
				da Vinci Si	CA9 SA1	SS1
44	2025	Yonsei University	Jongsoo Lee	da Vinci Si
			Jongeun Choi

Footnotes

[1]

Originally SUNY Buffalo

[2]

http://webpages.eng.wayne.edu/~af8262

[3]

Originally CNMC

[4]

http://engr.case.edu/cavusoglu_cenk/Home.html

[5]

https://yip.eng.ucsd.edu

[6]

https://sites.google.com/eng.ucsd.edu/taniamorimoto/about-me