13.2. Generations of da Vinci systems

13.2.1. Models

da Vinci Generations

Model	Year	Surgeon’s console	PSM/ECM/USM	Setup Joints	Endoscope
Classic [1]	2000	ver 1 (640x480)	ver 1 (PSM/ECM)	ver 1	ver 1 with SD
S	2006	ver 1 (640x480 or 1024x768)	ver 2 (PSM/ECM)	ver 2	ver 1 with SD or HD
Si	2009	ver 2 HD	ver 3 (PSM/ECM)	ver 2	ver 2 HD
X [2]	2017	ver 2 HD	ver 4 (USM)	ver 2	ver 3 HD
Xi [2]	2014	ver 2 HD	ver 4 (USM)	ver 3	ver 3 HD
5 [2]	2024	ver 3	ver 4 (USM)	ver 3	?

[1]

Initially known as IS1200 and later on Standard

[2] (1,2,3)

Versions of components for the X, Xi and 5 are based on physical appearance. It is quite possible the internals are radically different from one version to another.

13.2.2. dVRK support

Supported:

• Classic and S MTMs (ver1) with QLA based arm controllers

• Classic PSMs and ECMs (ver1) with QLA based arm controllers

• Classic SUJ (ver1) with QLA based SUJ controller

• Si PSMs (ver2) and ECMs (ver3) with dRAC based arm controllers

• S and Si SUJ (ver2) with dSIB and dRAC based arm controllers

Not supported:

• S PSMs (ver1) and ECMs (ver2). Some S system came with more recent PSMs or ECMs which are supported. The version is identified by the number following ASSY,PSM<ver> or ASSY,ECM<ver> on the arm’s label.

  

  dVRK supported S/Si ECM, ASSY,ECM3

  

  dVRK supported S/Si PSM, ASSY,PSM3

• Si patient cart motorized base

• Si MTMs

• Anything X, Xi or 5

Overall, the following components from da Vinci systems are valuable for the dVRK community.

dVRK supported Classic, S/Si parts