Build
Hardware projects and builds that showcase my hands-on engineering skills. From rapid prototyping to custom robot modifications, these projects highlight my ability to design, fabricate, and integrate physical systems. Few software projects are also presented.
Open-source da Vinci Instrument CAD
Open-source photorealistic CAD models for da Vinci instruments. More instruments will be added in the future. Stay tuned!
Data Annotation Application
Novel data annotation application with GUI using PyQt for manual label annotations
Custom Capacitive Contact Sensor
Design and implementation of custom capacitive sensor for tool-tissue contact detection. More details will be shared later, stay tuned!
Modern Chip-on-Tip Endoscope Integration with the da Vinci Research Kit
Integrate a modern chip-on-tip endoscope with the dVRK-Si for surgical robotics research.
Endoscope Video Pipeline Development
Video pipeline for endoscope image stacks using Video for Linux v2 drivers
Surgical Instrument Maintenance Solutions
Novel approach for surgical instrument lubrication and internal cable tension recovery
Open-source da Vinci High-Resolution Stereo-Viewer Console Solutions
Enable open-source solutions for the da Vinci High-Resolution Stereo-Viewer consoles, including height adjustment linear actuator reactivation and monitor replacement.
Joint Encoder and Brake Replacement Solutions
Novel replacement solutions for defective joint encoders and brakes of dVRK arms
da Vinci Surgical System Reactivation
Reactivation of full da Vinci Surgical Systems using dVRK controllers and software