The da Vinci Research Kit (dVRK) is a teleoperated surgical robotic system. For dynamic simulations and modelbased control, the dynamic model of the dVRK is required. We present an open-source dynamic model identification package for the dVRK, capable of modeling the parallelograms, springs, counterweight, and tendon couplings, which are inherent to the dVRK. A convex optimization-based method is used to identify the dynamic parameters of the dVRK subject to physical consistency. Experimental results show the effectiveness of the modeling and the robustness of the package. Although this software package is originally developed for the dVRK, it is feasible to apply it on other similar robots.

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In robot-assisted teleoperated laparoscopic surgeries, the patient side manipulators are controlled via the master manipulators, operated by the surgeon. The current generation of robots approved for laparoscopic surgery lack haptic feedback. In theory, haptic feedback could enhance the surgical procedures by providing a palpable sense of the environment as a function of surgeon's hands movements. This research presents an overall control framework for haptic feedback on existing robot platforms and demonstrates on the daVinci Research Kit. Toward this end, the paper discusses the implementation of a flexible framework that incorporates stiffness control with gravity compensation for the surgeon manipulator(s). This is coupled with a sensing and collision detection algorithm for calculating the interaction between the slave manipulators and the surgical area.

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