The da Vinci Research Kit (dVRK) is an “open-source mechatronics” system, consisting of electronics, firmware, and software that is being used to control research systems based on the now retired first-generation da Vinci system from Intuitive Surgical Inc. The da Vinci system is designed for Robot-Assisted Minimally Invasive Surgery (RAMIS). The dVRK is now deployed to 50+ differents institutions worldwide.
The dVRK documentation is hosted on the 👉 dvrk.readthedocs.io 👈. Please check the build instructions in the documentation before cloning any repository. The build instructions show how to use vcs to pull all the repositories you might need besides sawIntuitiveResearchKit.
Repositories:
- dVRK: sawIntuitiveResearchKit Main repository for the dVRK. This code depends on the cisst libraries. It also includes the main ROS nodes for the dVRK (ROS1 and ROS2)
- ROS: Extra ROS features are provided across multiple repositories.
- dvrk_model: configuration files (URDF and CAD)
- dvrk_python: Python client API over ROS, calibration scripts and examples
- dvrk_video: launch files for the video pipeline
