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. 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