dVRK Head Sensor

Hardware

  • 1 Digital Distance Sensor 10cm (http://www.pololu.com/product/1134)

  • 20 Molex pin connectors (Digikey Part No. WM2510-ND - we only need 6 pin connectors)

  • 12-feet S-Video Cable or any 3 wire cable would work (we just happened to have an old S-Video cable handy)

  • 1 male DB 15 connector (for the connection to the dVRK controller)

  • 1 3-pin right angle connector (for the connection on the sensor side)

Wiring

dVRK head sensor wiring

Sensor

Cable

Controller (J18, aka DOF 4)

VIN

Red

Pin 8 (VCC-CON-A 5V)

GND

White

Pin 6 (GND)

OUT

Yellow

Pin 7 (HOME4)

Notes:

  • J18 is a 15-pin connector labelled DOF 4 on the back of the dVRK controller

  • Please connect head sensor and foot pedal on same controller box

Physical setup

  • Setup option 1: base

    ../../../../../_images/dvrk-head-sensor-base.jpg

  • Setup option 2: side

    ../../../../../_images/dvrk-head-sensor-side.jpg

  • Setup option 3: full surgeon’s console. If you have a full da Vinci, you can pull the forehead foam pad and stick the wire underneath. Alternatively you can make a custom cable and use the original da Vinci head sensor (see above).

    ../../../../../_images/dVRK-head-sensor-full-system.jpg

  • Connector for controller box, connect to DOF 4 on controller with the foot pedals (to use default config files)

    ../../../../../_images/dvrk-head-sensor-connector.jpg
    ../../../../../_images/dvrk-head-sensor-controller.jpg

Configuration

To configure your console, see head sensor configuration.