2.2.5. Controller versions

The board versions and description of changes for each build can be found in the release notes for:

Some hardware [modifications](/jhu-dvrk/sawIntuitiveResearchKit/wiki/Controller-Boxes#hardware-modifications) might be required as we’re adding new features and discovering issues with older builds.

A list of sites for each build can be found in the [timeline](/jhu-dvrk/sawIntuitiveResearchKit/wiki/Timeline).

The FPGA and QLA serial number (S/N) have the form BBBB-xx or BBBB-xxx, where BBBB denotes the build number (see table below) and xx or xxx is the board number, starting with 01 or 001. For example, the first FPGA and QLA built have S/N 3116-01 and 3174-01, respectively. The S/N is physically labeled on each board (white sticker) and can be programmed into the board EEPROM, which is accessible via software. Since Build 4, the S/N has been programmed during manufacturing. For older builds, the S/N can be programmed using the pgm1394 utility.

All controllers come with FireWire adapters. Ethernet adapters were introduced on FPGA 2+, i.e. in build #5 (2016).

2.2.5.1. dVRK Classic arm controllers

dVRK Classic arm controller versions

Build

Year

FPGA

S/N

QLA

S/N

dMIB

CA0

2012

1.0

3116

1.1

3174

x

CA1

2012

1.1

3792

1.2

3791

x

CA2

2013

1.2

3985

1.3

3984

x

CA3

2014

1.2

4266

1.3

4265

x

CA4

2015

1.3

4652

1.3

4651

x

CA5

2016

2.1

4981

1.4

4980

x

CA6

2017

2.1

5496

1.4a

5495

x

CA7

2019

2.1

6007

1.4b

6006

F

CA8

2020

2.1

6547

1.4b

6557

F

CA9

2023

3.1

7589

1.6

7561

F

2.2.5.2. dVRK-Si arm controllers

dVRK-Si arm controller versions

Build

Year

FPGA

S/N

dRAC

S/N

SA1

2023

3.1

7589

3.3

7565

2.2.5.3. dVRK Classic SUJ controllers

dVRK Classic SUJ controller versions

Build

Year

FPGA

S/N

QLA

S/N

dSIB

CS0

2016

x

x

x

x

x

CS1

2020

2.1

6547

1.4b

6557

x