3.5. Instruments

Some instruments are supported by the dVRK but need to be physically modified. For example, Permanent Cautery Spatula (xxx184):

We need to “disable” disk #4 on the instrument because the actuator 3 and 4 are mechanically coupled inside the instrument. At that point (December 2019), the dVRK software doesn’t support driving 2 actuators coupled together to control a single joint. Since it is hard to remove the mechanical coupling inside the instrument, we recommend to disable the disk #4 (either by removing the disk or filling off the plots on the disk).

Permanent cautery spatula

Permanent cautery spatula mechanical coupling

Permanent cautery spatula mechanical coupling

Permanent cautery spatula modification

Permanent cautery spatula modified