Caveats on the first-generation da Vinci Research Kit: latent technical constraints and essential calibrations

Telesurgical robotic systems provide a well established form of assistance in the operating theater, with evidence of growing uptake in recent years. Until now, the da Vinci surgical system (Intuitive Surgical Inc, Sunnyvale, California) has been the most widely adopted robot of this kind, with more than 6,700 systems in current clinical use worldwide [1]. To accelerate research on robotic-assisted surgery, the retired first-generation da Vinci robots have been redeployed for research use as "da Vinci Research Kits" (dVRKs), which have been distributed to research institutions around the world to support both training and research in the sector. In the past ten years, a great amount of research on the dVRK has been carried out across a vast range of research topics. During this extensive and distributed process, common technical issues have been identified that are buried deep within the dVRK research and development architecture, and were found to be common among dVRK user feedback, regardless of the breadth and disparity of research directions identified. This paper gathers and analyzes the most significant of these, with a focus on the technical constraints of the first-generation dVRK, which both existing and prospective users should be aware of before embarking onto dVRK-related research. The hope is that this review will aid users in identifying and addressing common limitations of the systems promptly, thus helping to accelerate progress in the field.Comment: 15 pages, 7 figure

Hybrid video quality prediction: reviewing video quality measurement for widening application scope

A tremendous number of objective video quality measurement algorithms have been developed during the last two decades. Most of them either measure a very limited aspect of the perceived video quality or they measure broad ranges of quality with limited prediction accuracy. This paper lists several perceptual artifacts that may be computationally measured in an isolated algorithm and some of the modeling approaches that have been proposed to predict the resulting quality from those algorithms. These algorithms usually have a very limited application scope but have been verified carefully. The paper continues with a review of some standardized and well-known video quality measurement algorithms that are meant for a wide range of applications, thus have a larger scope. Their individual artifacts prediction accuracy is usually lower but some of them were validated to perform sufficiently well for standardization. Several difficulties and shortcomings in developing a general purpose model with high prediction performance are identified such as a common objective quality scale or the behavior of individual indicators when confronted with stimuli that are out of their prediction scope. The paper concludes with a systematic framework approach to tackle the development of a hybrid video quality measurement in a joint research collaboration.Polish National Centre for Research and Development (NCRD) SP/I/1/77065/10, Swedish Governmental Agency for Innovation Systems (Vinnova