13.5. Links

See also acronyms.

13.5.1. Intuitive Surgical

13.5.1.1. Sites

• Intuitive Surgical Inc

• Intuitive Foundation (dVRK hardware applications)

• Intuitive Research wiki for the da Vinci Research Kit community (account required)

13.5.1.2. Documents

• User manuals

  • da Vinci Standard

  • da Vinci Si

• Instrument catalogs

  • Standard/S (2011)

  • S/Si (2015)

  • X/Xi (2019)

13.5.2. Open source

13.5.2.1. General

• dVRK Logo (CAD, STL and png)

• Community publications

13.5.2.2. Mechatronics

Electronics/Enclosures

• Logic board version 1 and 2: FPGA1394

• Logic board version 3: FPGA1394V3

• Classic

  • Motor power board: QLA

  • QLA test board

  • DQLA

  • dMIB

  • dSIB

  • Intrument detection Dallas retrofit dongle

  • dVRK Classic controller test board

  • dVRK Classic SUJ controller assembly instructions

• Si

  • Motor power board: dRAC

  • Front panel LEDs

  • ESPM programmer

  • dSIB

  • dVRK Si controller test board

  • dVRK Si controller bill of materials and assembly instructions

Firmware/Software

• Firmware for all dVRK logic boards (aka FPGA1394): mechatronics-firmware

• Client library and tools for all FPGA1394: mechatronics-software

• Embedded software for Zynq PS on FPGA1394 v3: mechatronics-embedded

• dSIB Si (FPGA)

13.5.2.3. Software

Note

Most of the code should be downloaded using vcs (python vcstools) instead of git to make sure all the repositories you need are cloned. vcs also allows to use a specific branch or tag per repository to enforce checking out compatible versions. See VCS instructions for the dVRK.

cisst libraries and SAW components

• cisst repository

• cisst documentation

• cisst netlib

• cisst-ros ROS 1 and 2 bridge for SAW components

• vcs files for cisst, SAW components and dVRK

• sawTextToSpeech

• sawKeyboard

• sawControllers

• sawRobotIO1394

• cisst/SAW presentations, September 2021

  • Part 1 (30 min): https://youtu.be/SSo2MPsfBlk

  • Part 2 (45 min): https://youtu.be/XD0S4GzvfM8

CRTK

• Documentation

• ROS messages

• Python ROS client library

• Matlab ROS client library

dVRK

• General

  • Main site: dVRK

  • Documentation: dvrk.readthedocs.io

  • YouTube channel

• Code

  • Core components: sawIntuitiveResearchKit

  • Python ROS client library and examples: dvrk_python

  • Matlab ROS client library and examples: dvrk_matlab

  • Gravity compensation for MTMs: dvrk-gravity-compensation

  • PSM to camera registration: dvrk_camera_registration

• Configuration

  • Configuration files from JHU: dvrk_config_jhu

  • GitHub organization for all dVRK sites: github.com:/dvrk-config

  • ROS URDF and launch files: dvrk_model

  • ROS launch files for video: dvrk_video

• Other

  • Documentation source: dvrk-readthedocs

  • Continuous integration: dvrk-github-workflow

13.5.2.4. CAD

• Files used for ROS dvrk_model: dvrk_cad

• High resolution instrument models: instrument-cad

• Small parts used for calibration: dvrk-calibration-parts (Classic)

• Cannula replacement: dvrk-cannulas (Classic)