1. Introduction
2. Components of the kit
3. Hardware setup
4. Software
5. Connectivity
6. Configuration files
7. Calibration
8. Usage
9. Development
9.1. Options
9.2. Coordinate systems
9.2.1. Introduction
9.2.2. Single arm
9.2.3. SUJ
9.3. API
9.4. ROS client libraries
10. Video
11. Troubleshooting
12. References
dVRK
9.
Development
9.2.
Coordinate systems
Edit on GitHub
9.2.
Coordinate systems
9.2.1. Introduction
9.2.2. Single arm
9.2.2.1. Surgeon’s side
9.2.2.2. Patient’s side
9.2.3. SUJ
9.2.3.1. Overview
9.2.3.2. Intuitive SUJ
9.2.3.3. SUJ Fixed