2021
Model-based Design and Digital Implementation to Improve Control of the da Vinci Research Kit Telerobotic Surgical System
ICRA 2021poster
The da Vinci Research Kit (dVRK) was introduced in 2012 to provide an affordable, open-source platform for research in robotic minimally-invasive surgery. It provides access to all levels of control but, until now, has relied on an analog controller for the motor current, which cannot easily be cust…