An open-source research kit for the da Vinci® Surgical System

Author

Kazanzidesf, Peter ; Zihan Chen ; Deguet, Anton ; Fischer, Gregory S. ; Taylor, Russell H. ; DiMaio, Simon P.

Author_Institution

Dept. of Comput. Sci., Johns Hopkins Univ., Baltimore, MD, USA

fYear

2014

fDate

May 31 2014-June 7 2014

Firstpage

6434

Lastpage

6439

Abstract

We present a telerobotics research platform that provides complete access to all levels of control via open-source electronics and software. The electronics employs an FPGA to enable a centralized computation and distributed I/O architecture in which all control computations are implemented in a familiar development environment (Linux PC) and low-latency I/O is performed over an IEEE-1394a (FireWire) bus at speeds up to 400 Mbits/sec. The mechanical components are obtained from retired first-generation da Vinci ® Surgical Systems. This system is currently installed at 11 research institutions, with additional installations underway, thereby creating a research community around a common open-source hardware and software platform.

Keywords

Linux; control engineering computing; field buses; field programmable gate arrays; medical computing; medical robotics; public domain software; surgery; telerobotics; FPGA; FireWire bus; IEEE-1394a; Linux PC; centralized computation; control computations; distributed I/O architecture; first-generation da Vinci surgical systems; low-latency I/O; mechanical components; open-source electronics; open-source hardware; open-source research kit; open-source software; telerobotics research platform; Field programmable gate arrays; Hardware; Manipulators; Open source software; Real-time systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2014 IEEE International Conference on

Conference_Location

Hong Kong

Type

conf

DOI

10.1109/ICRA.2014.6907809

Filename

6907809