  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
