2.1.2.1. Introduction

History

The second generation (S) is in between the first and third. It shares most of the parts and designs from the Classic for the surgeon’s console and video tower. The patient cart was completely redesigned for the da Vinci S. The Si patient cart mostly carries over the S patient cart (see da Vinci generations).

The third generation of da Vinci systems (Si) share very few features with the first generation (Classic) since the surgeon’s console is new and the patient’s cart is basically an S patient’s cart. The few notable exception are:

  • The instruments geometry, albeit the Si instruments are slightly longer. We can use Si instruments on the dVRK Classic PSMs.

  • ECM endoscope adapter. This means that we can use any endoscope coming from a Classic, S or Si on an ECM Classic, S or Si.

Note

The da Vinci Si surgeon’s console has been carried over to the Xi systems (4th generation). Since the Xi systems are not retired yet, these consoles are not available for the research community (as of 2024). On the other hand, availability of the patient’s cart for the S and Si should increase as the Si systems are being retired (by end of 2024).

Main components

../../../../_images/ISI-da-Vinci-S-overview-labeled.png

da Vinci S: surgeon’s console, patient’s cart and video tower

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da Vinci Si: surgeon’s console, patient’s cart and video tower

dVRK integration

The following components can be used for the dVRK (see dVRK setup)

  • Surgeon’s console for S systems, see da Vinci Classic.

  • Video tower (S and Si), see dVRK video support

    • Light source

    • Camera control units

    • Focus controller (for S systems only)

    • The rack itself if provided along the dVRK

  • Patient’s cart

    • SUJ: setup joints, cart with central column and up to 4 passive arms with brakes to position the active arms around the patient (S and Si)

    • PSMs: patient side manipulators, active arms holding the laparoscopic instruments with EndoWrist (Si and some S, see generation support)

    • ECM: endoscopic camera manipulator, active arm holding the stereo endoscope (Si and some S, see generation support)

The following components are not supported:

  • Surgeon’s console for Si

  • Surgeon’s console buttons on arm rest

  • Focus controller on Si

  • Original video pipeline with icons, etc.

  • Audio between the surgeon’s console and the video tower