Timeline

The dVRK controllers have been built in batches as the community grew over the years. You can locate all these sites on the dVRK Google Map.

Details regarding the different builds can be found in the board versions page.

CA stands for Classic Arm controller, CS for Classic SUJ controller and SA for S/Si Arm controller (upcoming).

	Year	University	PI(s)	System(s)	Arm batch(es)	SUJ batch(es)
1	2004	Johns Hopkins University	Peter Kazanzides Russell Taylor	dVRK da Vinci daVinci-Si	CA0 CA1 CA3 SA1 CA9	CS0
2	2012	Worcester Polytechnic Inst.	Greg Fischer	dVRK da Vinci	CA1	CS1
3	2012	Stanford University	Allison Okamura	dVRK	CA1
4	2012	University of British Columbia	Tim Salcudean	da Vinci	CA1
5	2013	U.C. Berkeley	Ken Goldberg Pieter Abbeel	dVRK	C2
6	2013	Carnegie Mellon University	Howie Choset	dVRK	CA2
7	2013	Vanderbilt University ARMA	Nabil Simaan	dVRK	CA2
8	2013	Clemson University (originally SUNY Buffalo)	Venkat Krovi	dVRK	CA2
9	2013	University W. Ontario CSTAR	Rajni Patel	da Vinci	CA2
10	2013	Hospital for Sick Kids, Toronto	Jim Drake, M.D.	dVRK	CA2
11	2013	Intuitive Surgical Research	Simon DiMaio	da Vinci	CA2
12	2014	Imperial College	Guang-Zhong Yang Philip Pratt	da Vinci	C3, C5
13	2014	University College, London	Dan Stoyanov	da Vinci	CA3 CA7
14	2014	Scuola Superiore Sant'Anna	Arianna Menciassi	dVRK	CA3
15	2014	Seoul National University	Sungwan Kim	dVRK	CA3
16	2014	Óbuda University, Budapest	Tamás Haidegger	da Vinci	CA3
17	2015	Wayne State University	Abhilash Pandya	da Vinci	CA4
18	2015	University of Texas Austin ARTS (originally CNMC)	Farshid Alambeigi	da Vinci	CA4
19	2015	University of Verona	Paolo Fiorini	da Vinci	CA4	CS1
20	2015	National Institutes of Health	Sheng Xu	da Vinci	CA4
21	2016	Management Center Innsbruck	Yeongmi Kim	da Vinci	-
22	2016	Case Western Reserve University	Cenk Cavusoglu	da Vinci	CA5
23	2016	U.C. San Diego	Michael Yip Tania Morimoto	da Vinci	CA5 CA7 CA8	CS1
24	2016	Ben Gurion University	Ilana Nisky	dVRK	CA5
25	2016	University of Naples	Bruno Siciliano Fanny Ficuciello	da Vinci	CA5	CS1
26	2016	Cleveland Clinic	Robb Colbrunn	da Vinci	CA5
27	2016	Politecnico di Milano	Elena De Momi	da Vinci	CA5	CS1
28	2016	Chinese University of Hong Kong	Yunhui Liu Philip Chiu Samuel Au	dVRK da Vinci	CA5 CA6
29	2017	University of Texas Austin HeRo	Ann Majewicz Fey	dVRK	CA6
30	2017	University of Leeds	Pietro Valdastri	da Vinci	CA6	CS1
31	2017	Hochschule Reutlingen	Lars Schmidt	da Vinci	CA6
32	2019	University of Maryland	Axel Krieger	da Vinci	CA7
33	2019	University of Alberta	Mahdi Tavakoli	dVRK	CA7
34	2019	Purdue University	Juan Wachs Denny Yu	da Vinci	CA7
35	2019	Wake Forest	Philip Brown	da Vinci	CA7
36	2019	surgnova.com	Jindi Zhang	MTMs	CA7
37	2021	University of Illinois, Chicago	Liaohai Leo Chen	da Vinci	CA8	CS1
38	2021	University of Twente	Sarthak Misra	dVRK	CA8
39	2021	University of Torino	Alberto Arezzo	da Vinci	CA8	CS1
40	2022	New York University	S. Farokh Atashzar	dVRK	CA8
41	2022	The University of Utah	Alan Kuntz	dVRK	CA8 CA9
42	2022	Vanderbilt University MAPLE	Jie Ying Wu	dVRK-Si	CA9 SA1
43	2023	Max Planck Institute	Guido Caccianiga	daVinci daVinci-Si	CA9 CA9 SA1