10.5.3. System

C++ class is dvrk::system.

10.5.3.1. General

• system/power_off

  • cisst: void command

  • ROS: subscriber std_msgs/Empty

  • dVRK specific: trigger power off sequence for the whole system.

• system/power_on

  • cisst: void command

  • ROS: subscriber std_msgs/Empty

  • dVRK specific: trigger power on sequence for the whole system. If some arms are in FAULT state, this method will first disable them.

• system/home

  • cisst: void command

  • ROS: subscriber std_msgs/Empty

  • dVRK specific: triggers homing procedure for the whole system, including powering if the system is not yet powered. Note that “homing” means finding where the arm is (absolute position). It doesn’t always imply moving to the zero position.

10.5.3.2. Per console

One can have multiple consoles, in this case the namespace can be console1/, console2/… instead of console/. * console/camera

• cisst: event write prmEventButton

• ROS: publisher sensor_msgs/Joy

• dVRK specific: indicate if the console assumes it should teleoperate the ECM if all conditions are met: operator is present and teleoperation is enabled. When in camera mode, the console disables the PSM teleoperation components (if any) and enables the ECM teleoperation component (if present).

• console/clutch

  • cisst: event write prmEventButton

  • ROS: publisher sensor_msgs/Joy

  • dVRK specific: indicate if the console assumes it should clutch the active teleoperation components. The console component simple passes the clutch state to the teleoperation components who then have to handle the clutch.

• console/operator_present

  • cisst: event write prmEventButton

  • ROS: publisher sensor_msgs/Joy

  • dVRK specific: indicate if the console assumes the operator is present (either through a dead man switch/foot pedal, head sensor or emulated).

• console/emulate_camera

  • cisst: write command prmEventButton

  • ROS: subscriber sensor_msgs/Joy

  • dVRK specific: emulate the camera pedal press.

• console/emulate_clutch

  • cisst: write command prmEventButton

  • ROS: subscriber sensor_msgs/Joy

  • dVRK specific: emulate the clutch pedal press.

• console/emulate_operator_present

  • cisst: write command prmEventButton

  • ROS: subscriber sensor_msgs/Joy

  • dVRK specific: emulate the operator presence sensor.

• console/teleop/enabled

  • cisst: event write bool

  • ROS: publisher std_msgs/Bool

  • dVRK specific: indicate if the teleoperation is enabled at the console level.

• console/teleop/enable

  • cisst: write command bool

  • ROS: subscriber std_msgs/Bool

  • dVRK specific: enable or disable the teleoperation at the console level. When teleoperation is enabled for the console, the console will manage with teleoperation components should be enabled using the following logic:

    • Teleoperation components must be declared in the console JSON configuration file: MTMR_PSM1, MTML_PSM2, MTMR_PSM3, MTML_MTMR_ECM…

    • For PSM teleoperation, the pair (e.g. MTMR_PSM1) also needs to be selected (there should be one pair per MTM selected by default when the console starts).

    • Finally, the console determines which type of teleoperation component should be enabled based on the camera input:

      • If the camera input is off (i.e. camera foot pedal not pressed), the console will enable the PSM teleoperation components that have been selected.

      • If the camera input is on, the console will enable the ECM teleoperation component (if declared in the console configuration file)

    • When a teleoperation is enabled, it will perform its own logic before getting into following mode…

• console/teleop/scale

  • cisst: event write double

  • ROS: publisher std_msgs::Float64

  • dVRK specific: last scale sent to all teleoperation components. If a scale is set directly for a specific teleoperation component (i.e. not using the console teleoperation scale), said component can potentially use a different scale from the others.

• console/teleop/set_scale

  • cisst: write command double

  • ROS: subscriber std_msgs/Float64

  • dVRK specific: set the scale for all the teleoperation components declared in the system configuration file.

• console/teleop/teleop_selected

  • cisst: event write std::string

  • ROS: publisher std_msgs::String

  • dVRK specific: indicate which pairs of MTMs/PSMs are currently selected (PSM and ECM teleoperation components).

• console/teleop/teleop_unselected

  • cisst: event write std::string

  • ROS: publisher std_msgs::String

  • dVRK specific: indicate which pairs of MTMs/PSMs are currently unselected (PSM and ECM teleoperation components).

• console/teleop/select_teleop

  • cisst: write command std::string

  • ROS: subscriber std_msgs::String

  • dVRK specific: select a specific PSM or ECM teleoperation. The string message is the name of the teleoperation component to select (MTMR_PSM1, MTMR1_MTML1_ECM…). If there is any conflict between the newly selected teleoperation and a previously selected teleoperation, the previously selected teleoperation is automatically unselected. A conflict is defined by any arm (surgeon’s or patient’s side) used by both teleoperation components.

• console/teleop/unselect_teleop

  • cisst: write command std::string

  • ROS: subscriber std_msgs::String

  • dVRK specific: unselect a specific PSM or ECM teleoperation.

10.5.3.3. Foot pedals

• footpedals/clutch

  • cisst: event write prmEventButton

  • ROS: publisher sensor_msgs/Joy

  • dVRK specific: indicate if the physical pedal clutch is released (0), pressed (1) or a quick tap happened (2).

• footpedals/camera

  • cisst: event write prmEventButton

  • ROS: publisher sensor_msgs/Joy

  • dVRK specific: indicate if the physical pedal camera is released (0), pressed (1) or a quick tap happened (2).

• footpedals/cam_minus

  • cisst: event write prmEventButton

  • ROS: publisher sensor_msgs/Joy

  • dVRK specific: indicate if the physical pedal camera - is released (0), pressed (1) or a quick tap happened (2).

• footpedals/cam_plus

  • cisst: event write prmEventButton

  • ROS: publisher sensor_msgs/Joy

  • dVRK specific: indicate if the physical pedal camera + is released (0), pressed (1) or a quick tap happened (2).

• footpedals/bicoag

  • cisst: event write prmEventButton

  • ROS: publisher sensor_msgs/Joy

  • dVRK specific: indicate if the physical pedal bicoag is released (0), pressed (1) or a quick tap happened (2).

• footpedals/coag

  • cisst: event write prmEventButton

  • ROS: publisher sensor_msgs/Joy

  • dVRK specific: indicate if the physical pedal coag is released (0), pressed (1) or a quick tap happened (2).