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 in close to 40 differents institutions worldwide.
The dVRK documentation is hosted on the 👉 sawIntuitiveResearchKit Wiki 👈. Please check the build instructions in the Wiki before cloning any repository. The build instructions show how to use wstool or vcs to pull all the repositories you might need for ROS 1 or ROS 2.
Repositories:
- dVRK: sawIntuitiveResearchKit Main repository for the dVRK. This code depends on the cisst libraries but doesn't require ROS.
- ROS 1: dvrk-ros: Single repository containing ROS nodes for the dVRK, configuration files (URDF and CAD), Python and Matlab clients API over ROS, examples...
- ROS 2: The code is split across multiple repositories. ros2_dvrk_robot: ROS node for the dVRK. ros2_dvrk_model: configuration files (URDF and CAD). ros2_dvrk_python: Python client API over ROS
