Comparing the accuracy of the da Vinci Xi and da Vinci Si for image guidance and automation

Abstract

Background: Current laparoscopic surgical robots are teleoperated, which requires high fidelity differential motions but does not require absolute accuracy. Emerging applications, including image guidance and automation, require absolute accuracy. The absolute accuracy of the da Vinci Xi robot has not yet been characterized or compared to the Si system, which is now being phased out. This study compares the accuracy of the two. Methods: We measure robot tip positions and encoder values assessing accuracy with and without robot calibration. Results: The Si is accurate if the setup joints are not moved but loses accuracy otherwise. The Xi is always accurate. Conclusion: The Xi can achieve submillimetric average error. Calibration improves accuracy, but excellent baseline accuracy of the Xi means that calibration may not be needed for some applications. Importantly, the external tracking systems needed to account for setup joint error in the Si are no longer required with the Xi.

Initial image-plane assessment of kinematic-based stereo overlay in trans-oral robotic surgery

“…This offset is more prominent in data collected with the da Vinci S system than in similar experiments performed with the newer da Vinci Xi robot. Although the da Vinci Xi is equipped with a more modern, chip-on-tip stereoendoscope that is significantly more straightforward to calibrate and more accurate forward kinematic data [13], further work toward improving calibration of both the endoscope and kinematics for the S will be pursued due to its immediate ability to accommodate the overlay topology of Fig. 1.…”

“…As a first step in this process, the registration transform chain was shortened via addition of optical tracking markers on the endoscope shaft as described above (Fig. 3, right), eliminating dependence on kinematic data which is expected to be of relatively low absolute accuracy [13]. Left eye ground truth and overlay projections from the resulting optically-tracked dataset are shown in Fig.…”

Factors affecting the learning curve in robotic colorectal surgery

“…The advantages of the Xi include improved flexibility and manoeuvrability with overhead rotating architecture, slimmer boom-mounted arms, extended instrument reach, guided targeting and integrated auxiliary technology [ 29 ]. Despite having a longer active chain and more robotic joints, the accuracy of the Xi was similar to the Si system [ 30 ]. The main problem of studies comparing outcomes of the Si and Xi platform relate to chronology bias and “proficiency-gain effect”.…”

E-DSSR: Efficient Dynamic Surgical Scene Reconstruction with Transformer-based Stereoscopic Depth Perception

“…Later, Li et al [10] proposes a reconstruction framework to simultaneously reconstruct the soft tissue and track surgical instruments using kinematics. However, instrument location is prone to noise and error given the long kinematics chain as demonstrated in [2]. Lu et al [13] further improves the previous framework with deep learning methods to estimate depth, and a key-point+kinematics hybrid approach to localize the surgical instrument.…”