An Open-Source Research Kit For The Da Vinci (R) Surgical System

Peter Kazanzides,Zihan Chen,Anton Deguet,Gregory S. Fischer,Russell H. Taylor,Simon P. Dimaio

2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)（2014）

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摘要

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 (R) 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.

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关键词

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

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