{"id":"https://openalex.org/W4411272162","doi":"https://doi.org/10.1109/ismr67322.2025.11025986","title":"dVRK-Si: The Next Generation da Vinci Research Kit","display_name":"dVRK-Si: The Next Generation da Vinci Research Kit","publication_year":2025,"publication_date":"2025-05-14","ids":{"openalex":"https://openalex.org/W4411272162","doi":"https://doi.org/10.1109/ismr67322.2025.11025986"},"language":"en","primary_location":{"id":"doi:10.1109/ismr67322.2025.11025986","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr67322.2025.11025986","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078434437","display_name":"Keshuai Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Keshuai Xu","raw_affiliation_strings":["Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100724763","display_name":"Jie Ying Wu","orcid":"https://orcid.org/0000-0002-7306-8140"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jie Ying Wu","raw_affiliation_strings":["Vanderbilt Institute for Surgery and Engineering, Vanderbilt University,Department of Computer Science,Nashville,TN,USA,37235"],"affiliations":[{"raw_affiliation_string":"Vanderbilt Institute for Surgery and Engineering, Vanderbilt University,Department of Computer Science,Nashville,TN,USA,37235","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060559135","display_name":"Anton Deguet","orcid":"https://orcid.org/0000-0003-3856-2095"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anton Deguet","raw_affiliation_strings":["Johns Hopkins University,Laboratory for Computational Sensing and Robotics (LCSR),Baltimore,MD,USA,21218"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Laboratory for Computational Sensing and Robotics (LCSR),Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022619253","display_name":"Peter Kazanzides","orcid":"https://orcid.org/0000-0002-6117-5467"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Kazanzides","raw_affiliation_strings":["Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5078434437"],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":1.4778,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.82191323,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"185","last_page":"191"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10783","display_name":"Additive Manufacturing and 3D Printing Technologies","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9921000003814697,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5113739371299744}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5113739371299744}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ismr67322.2025.11025986","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr67322.2025.11025986","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5699999928474426,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309151","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1950976836","https://openalex.org/W2061417916","https://openalex.org/W2160899683","https://openalex.org/W2613958746","https://openalex.org/W2908767360","https://openalex.org/W3115373916","https://openalex.org/W3155981689","https://openalex.org/W4205403540"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"The":[0,30],"da":[1,26,54,75],"Vinci":[2,27,55,76],"Research":[3],"Kit":[4],"(dVRK)":[5],"is":[6,49],"an":[7,66,154],"opensource":[8],"and":[9,40,90,104,157,174],"open-hardware":[10],"surgical":[11],"robotics":[12],"research":[13,36],"platform":[14],"that":[15,68,87,125,148],"provides":[16],"complete":[17],"access":[18],"to":[19,34,71,83,118,160,184],"all":[20],"levels":[21],"of":[22,102,129],"control":[23],"on":[24,51],"decommissioned":[25,72],"Surgical":[28],"Systems.":[29],"original":[31,94],"dVRK,":[32],"released":[33,57],"the":[35,52,84,93,108,114,119,145,162,185],"community":[37],"in":[38,58,107,144,167],"2012":[39],"now":[41],"installed":[42],"at":[43],"more":[44],"than":[45],"40":[46],"institutions":[47],"worldwide,":[48],"based":[50],"first-generation":[53],"system":[56,85],"2000.":[59],"In":[60],"this":[61],"work,":[62],"we":[63,112],"present":[64],"dVRK-Si,":[65],"update":[67],"extends":[69],"support":[70,161],"second/third":[73],"generation":[74],"S/Si":[77],"patientside":[78],"robots.":[79],"We":[80],"describe":[81,113],"extensions":[82],"architecture":[86],"maintain":[88],"compatibility":[89],"interoperability":[91],"with":[92,133],"dVRK":[95,103],"system,":[96],"thereby":[97],"enabling":[98],"a":[99,122],"heterogeneous":[100],"mix":[101],"dVRK-Si":[105],"arms":[106],"same":[109],"system.":[110],"Additionally,":[111],"following":[115],"components":[116],"specific":[117],"dVRK-Si:":[120],"(1)":[121],"new":[123],"controller":[124],"features":[126],"10":[127],"channels":[128],"PWM":[130],"motor":[131],"drivers":[132],"digital":[134],"current":[135],"loops;":[136],"(2)":[137],"alternative":[138],"(closed-source)":[139],"firmwares":[140],"for":[141],"embedded":[142],"devices":[143],"robot":[146],"arm":[147],"stream":[149],"serialized":[150],"sensor":[151],"data":[152],"using":[153],"open":[155,182],"protocol;":[156],"(3)":[158],"electronics":[159,171],"passive":[163],"Setup":[164],"Joints":[165],"included":[166],"full":[168],"systems.":[169],"All":[170],"designs,":[172],"software,":[173],"firmware":[175],"(except":[176],"as":[177],"noted":[178],"above)":[179],"are":[180],"provided":[181],"source":[183],"community.":[186]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}
