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10.5.4. Teleoperation

10.5.4.1. PSM

C++ class is mtsTeleOperationPSM. Teleoperation components names are typically all upper case use the name of the MTM and PSM (e.g. for the cisst component: MTMR_PSM1). Topics for ROS are published under the namespace MTMx_PSMx (e.g. MTML_PSM1, MTMR_PSM3…).

• current_state

  • cisst: event write std::string

  • ROS: publisher std_msgs/String

  • dVRK specific: current state. Possible values are defined in components/code/mtsTeleOperationPSM.cpp: DISABLED, SETTING_ARMS_STATE, ALIGNING_MTM and ENABLED.

• desired_state

  • cisst: event write std::string

  • ROS: publisher std_msgs/String

  • dVRK specific: desired state. Possible values are defined in components/code/mtsTeleOperationPSM.cpp: DISABLED, ALIGNING_MTM and ENABLED.

• state_command

  • cisst: write command std::string

  • ROS: subscriber crtk_msgs/StringStamped

  • dVRK specific: send command to change desired state. Possible values are: enable, disable and align_mtm

• following

  • cisst: event write bool

  • ROS: publisher std_msgs/Bool

  • dVRK specific: indicate if the PSM is following the MTM. This can only happen if the teleoperation is ENABLED, the user has engaged the MTM and the teleoperation is not clutched. This can can be used to detect when the teleoperation component is actually sending commands to the PSM (using a combination of servo_cp and jaw/servo_jp).

• scale

  • cisst: event write double

  • ROS: publisher std_msgs/Float64

  • dVRK specific: indicate what is the current scaling factor between the MTM and PSM translations.

• set_scale

  • cisst: write command double

  • ROS: subscriber std_msgs/Float64

  • dVRK specific: set the scaling factor between the MTM and PSM translations. This command changes the scale for this teleoperation component only. Use with caution, it might be confusing for a user if both hands are not using the same scale. User should most likely use the console/teleop/set_scale command instead. This setting can also be changed using the GUI.

• align_mtm

  • cisst: event write bool

  • ROS: publisher std_msgs/Bool

  • dVRK specific: indicate if the teleoperation component will attempt to align the MTM orientation (with respect to the stereo display) to the orientation of the PSM end effector (with respect to the camera). See set_align_mtm.

• alignment_offset

  • cisst: read command vctMatRot3

  • ROS: publisher geometry_msgs/QuaternionStamped

  • dVRK specific: difference between the MTM orientation and PSM orientation. When align_mtm is set, the difference is capped by the maximum threshold allowed to engage (i.e. start following mode). The default threshold is defined in components/include/sawIntuitiveResearchKit/mtsIntuitiveResearchKit.h and is set to 5 degrees. When align_mtm is set to false, this allows to track the difference of orientation between MTM and PSM when the operator starts teleoperating.

• set_align_mtm

  • cisst: write command bool

  • ROS: subscriber std_msgs/Bool

  • dVRK specific: set whether the teleoperation component requires the MTM orientation to match the PSM orientation to start the following mode. When set, the teleoperation component will attempt to orient the MTM to match the PSM orientation. For alternate MTMs without motorized wrist, the operator will have to manually re-orient the MTM to match the PSM orientation. When set, in clutch mode, the component will lock the MTM orientation and leave the position (x, y, z) free so, the operator can re-position their hands while preserving the orientation. By default, align_mtm is set to true and, it mimics the behavior of the clinical da Vinci systems. Setting align_mtm to false allows relative orientation between the MTM and the PSM. This can be useful for alternate MTMs with a smaller SO3 space (e.g. ForceDimension haptic systems or Phantom Omni). This setting can also be changed using the GUI.

• rotation_locked

  • cisst: event write bool

  • ROS: publisher sensor_msgs/Joy

  • dVRK specific: indicate if the rotation is locked. See lock_rotation.

• lock_rotation

  • cisst: write command bool

  • ROS: subscriber std_msgs/Bool

  • dVRK specific: lock the orientation. On the PSM side, the teleoperation component will only send translation commands and will not change the orientation of the tool tip. On the MTM side, the component will lock the wrist (similar to clutch in following mode when align-mtm is set). This setting can also be changed using the GUI.

• translation_locked

  • cisst: event write bool

  • ROS: publisher sensor_msgs/Joy Triggers power off sequence for the whole system.

  • dVRK specific: indicate if the translation is locked. See lock_translation.

• lock_translation

  • cisst: write command bool

  • ROS: subscriber std_msgs/Bool

  • dVRK specific: lock the translation. On the PSM side, the teleoperation component will only send rotation commands and will not change the position of the tool tip. There is no effect on the MTM side. This setting can also be changed using the GUI.

10.5.4.2. ECM

C++ class is mtsTeleOperationECM.

• current_state

  • cisst: event write std::string

  • ROS: publisher std_msgs::String

  • dVRK specific: see similar command for PSM teleoperation.

• desired_state

  • cisst: event write std::string

  • ROS: publisher std_msgs::String

  • dVRK specific: see similar command for PSM teleoperation.

• state_command

  • cisst: write command std::string

  • ROS: subscriber std_msgs::String

  • dVRK specific: see similar command for PSM teleoperation.

• following

  • cisst: event write bool

  • ROS: publisher std_msgs::Bool

  • dVRK specific: see similar command for PSM teleoperation.

• scale

  • cisst: event write double

  • ROS: publisher std_msgs::Float64

  • dVRK specific: see similar command for PSM teleoperation.

• set_scale

  • cisst: write command double

  • ROS: subscriber std_msgs::Float64

  • dVRK specific: see similar command for PSM teleoperation.