This research delves into the enhancement of control mechanisms for the da Vinci Surgical System, focusing on the implementation of gravity compensation and refining the modeling of the master and patient side manipulators. Leveraging the Robot Operating System (ROS) the study aimed to fortify the precision and stability of the robots movements essential for intricate surgical procedures. Through rigorous parameter identification and the Euler Lagrange approach the team successfully derived the necessary torque equations and established a robust mathematical model. Implementation of the actual robot and simulation in Gazebo highlighted the efficacy of the developed control strategies facilitating accurate positioning and minimizing drift. Additionally, the project extended its contributions by constructing a comprehensive model for the patient side manipulator laying the groundwork for future research endeavors. This work signifies a significant advancement in the pursuit of enhanced precision and user control in robotic assisted surgeries. NOTE - This work has been submitted to the IEEE for publication. Copyright may be transferred without notice, after which this version may no longer be accessible. Copyright on this article is reserved by IEEE

翻译：本研究深入探讨了达芬奇手术系统控制机制的改进，重点在于实现重力补偿并优化主操作端与患者端机械臂的建模。通过利用机器人操作系统（ROS），本研究旨在增强机器人运动的精确性与稳定性，这对复杂外科手术至关重要。团队通过严格的参数辨识与欧拉-拉格朗日方法，成功推导出所需的扭矩方程并建立了鲁棒的数学模型。在实际机器人及Gazebo仿真环境中的实施验证了所开发控制策略的有效性，实现了精确定位并最小化了漂移现象。此外，本项目通过构建患者端机械臂的完整模型扩展了其贡献，为未来研究奠定了基础。此项工作标志着在提升机器人辅助手术精度与用户控制方面取得了重要进展。注：本文已提交IEEE出版。版权可能在不另行通知的情况下转让，此后本版本可能无法再被获取。本文版权归IEEE所有。