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

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.

[1]  Herman Bruyninckx,et al.  The real-time motion control core of the Orocos project , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[2]  G.A. Pratt,et al.  Late motor processing in low-impedance robots: impedance control of series-elastic actuators , 2004, Proceedings of the 2004 American Control Conference.

[3]  Yuchen Zhang,et al.  Hard Real-Time Networking on Firewire , 2005 .

[4]  Peter Kazanzides,et al.  Software components and frameworks for medical robot control , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[5]  A. Deguet,et al.  The cisst libraries for computer assisted intervention systems , 2008, The MIDAS Journal.

[6]  The da Vinci Research Interface , 2008, The MIDAS Journal.

[7]  Alin Albu-Schäffer,et al.  The DLR MIRO: a versatile lightweight robot for surgical applications , 2008, Ind. Robot.

[8]  P. Kazanzides,et al.  Centralized processing and distributed I/O for robot control , 2008, 2008 IEEE International Conference on Technologies for Practical Robot Applications.

[9]  Michael Beetz,et al.  Real-time perception-guided motion planning for a personal robot , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[10]  Peter Kazanzides,et al.  A scalable system for real-time control of dexterous surgical robots , 2009, 2009 IEEE International Conference on Technologies for Practical Robot Applications.

[11]  Morgan Quigley,et al.  ROS: an open-source Robot Operating System , 2009, ICRA 2009.

[12]  Peter Kazanzides,et al.  A component-based architecture for flexible integration of robotic systems , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  B. Vagvolgyi,et al.  The Surgical Assistant Workstation (SAW) in Minimally-Invasive Surgery and Microsurgery , 2010, The MIDAS Journal.

[14]  Blake Hannaford,et al.  Raven-II: An Open Platform for Surgical Robotics Research , 2013, IEEE Transactions on Biomedical Engineering.

[15]  Peter Kazanzides,et al.  Model-based telerobotic control with virtual fixtures for satellite servicing tasks , 2013, 2013 IEEE International Conference on Robotics and Automation.

[16]  Allison M. Okamura,et al.  Effect of load force feedback on grip force control during teleoperation: A preliminary study , 2014, 2014 IEEE Haptics Symposium (HAPTICS).

[17]  Tsegaye Ma.  A comparative study of the Linux and windows device driver architectures with a focus on IEEE1394 (high speed serial bus) drivers , 2016 .