IEEE Robotics & Automation Magazine - December 2021 - 69

algorithms that require a vast number of learning iterations or
to look at user studies with a large number of known scenes
or environment parameters.
In summary, the trend toward more effective data utilization
in surgical robotic research is related to the possibility of
making research platforms more compliant and open to the
integration of different systems to facilitate data collection,
storage, sharing, and use. The work facilitated by the dVRK
highlights this current area of development. However, the
dVRK also does much more, including examples of significant
effort and development facilitated by the platform in new
hardware, integration with imaging or other nonrobotic capabilities,
and human factors studies. It is the authors' opinion
that the platform has been a huge catalyst for research acceleration
in RMIS and hopefully for the transition of research
efforts into clinically meaningful solutions.
Acknowledgments
The work was supported by the Wellcome/EPSRC Center for
Interventional and Surgical Sciences [203145Z/16/Z]; Engineering
and Physical Sciences Research Council [EP/
P027938/1, EP/R004080/1, EP/P012841/1]; and the Royal
Academy of Engineering Chair in Emerging Technologies
scheme. This research was funded, in whole or in part, by the
Wellcome Trust [203145Z/16/Z]. For the purpose of open
access, Claudia D'Ettorre has applied a Creative Commons
public copyright license to any author-accepted manuscript
version arising from this submission. Claudia D'Ettorre and
Andrea Mariani contributed equally to the work presented in
this article.
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DECEMBER 2021 * IEEE ROBOTICS & AUTOMATION MAGAZINE *
69
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IEEE Robotics & Automation Magazine - December 2021

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