The da Vinci Research Kit (dVRK) is an open-source mechatronics platform for robotic surgery. For this grant, we did a number of re-design and reimplementation steps to ease integration of NRI CSA algorithms into that framework. Further, we developed new components using class derivation, dynamic loading, ROS and socket-based distributed architectures.

Repositories: 

https://github.com/jhu-dvrk/sawIntuitiveResearchKit 

https://github.com/jhu-dvrk/dvrk-ros

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