Towards Dynamic Model Identification and Gravity Compensation for the dVRK-Si Patient Side Manipulator

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Accuracy Analysis and Enhancement via Transformer-based Robot Calibration of the da Vinci Research Kit Si (dVRK-Si)
2025Xinhao Chen, M. Kam et al.
[2]
SRT-H: A Hierarchical Framework for Autonomous Surgery via Language Conditioned Imitation Learning
2025Ji Woong Kim, Juo-Tung Chen et al.
[3]
dVRK-Si: The Next Generation da Vinci Research Kit
2025Keshuai Xu, Jie Ying Wu et al.
[4]
Gravity Compensation of the dVRK-Si Patient Side Manipulator based on Dynamic Model Identification
2025Haoying Zhou, Hao Yang et al.
[5]
A Hybrid Model and Learning-Based Force Estimation Framework for Surgical Robots
2024Hao Yang, Haoying Zhou et al.
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An Effectiveness Study Across Baseline and Learning-Based Force Estimation Methods on the da Vinci Research Kit Si System
2024Hao Yang, Ayberk Acar et al.
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daVinci Research Kit Patient Side Manipulator Dynamic Model Using Augmented Lagrangian Particle Swarm Optimization
2024O. F. Argin, R. Moccia et al.
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2022Jintan Zhang, Nural Yilmaz et al.
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Transfer of learned dynamics between different surgical robots and operative configurations
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2020Nural Yilmaz, J. Wu et al.
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2019Hongbin Lin, Chiu-Wai Vincent Hui et al.
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Dynamic Modeling of the Da Vinci Research Kit Arm for the Estimation of Interaction Wrench
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Showing 20 of 36 references

Founder's Pitch

"A dynamic modeling framework for the dVRK-Si Patient Side Manipulator that enhances control accuracy in robotic surgery."

Robotic SurgeryScore: 7View PDF ↗

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2.5

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5

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2.5

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