dVRK-Si: The Next Generation da Vinci Research Kit

The da Vinci Research Kit (dVRK) is an opensource and open-hardware surgical robotics research platform that provides complete access to all levels of control on decommissioned da Vinci Surgical Systems. The original dVRK, released to the research community in 2012 and now installed at more than 40 institutions worldwide, is based on the first-generation da Vinci system released in 2000. In this work, we present dVRK-Si, an update that extends support to decommissioned second/third generation da Vinci S/Si patientside robots. We describe extensions to the system architecture that maintain compatibility and interoperability with the original dVRK system, thereby enabling a heterogeneous mix of dVRK and dVRK-Si arms in the same system. Additionally, we describe the following components specific to the dVRK-Si: (1) a new controller that features 10 channels of PWM motor drivers with digital current loops; (2) alternative (closed-source) firmwares for embedded devices in the robot arm that stream serialized sensor data using an open protocol; and (3) electronics to support the passive Setup Joints included in full systems. All electronics designs, software, and firmware (except as noted above) are provided open source to the community.