dVRK

• 1. Introduction
  • 1.1. What is the dVRK?
    • 1.1.1. The da Vinci
    • 1.1.2. The kit
    • 1.1.3. Credit/Citation
  • 1.2. Disclaimers
  • 1.3. How to get a dVRK?
  • 1.4. History and groups
  • 1.5. Examples
  • 1.6. Getting started
    • 1.6.1. Accounts and support
    • 1.6.2. Other readings
    • 1.6.3. Overview
  • 1.7. Acknowledgments
• 2. Components of the kit
  • 2.1. da Vinci components
    • 2.1.1. Components from the da Vinci Classic
      • 2.1.1.1. Introduction
      • 2.1.1.2. Master Tele Manipulators
      • 2.1.1.3. Patient side manipulators
      • 2.1.1.4. Endoscopic Camera Manipulator
      • 2.1.1.5. Set Up Joints
    • 2.1.2. Components from the da Vinci Si
      • 2.1.2.1. Introduction
      • 2.1.2.2. Patient side manipulators
      • 2.1.2.3. Endoscopic Camera Manipulator
      • 2.1.2.4. Set Up Joints
    • 2.1.3. Instruments
      • 2.1.3.1. Introduction
      • 2.1.3.2. Part number
      • 2.1.3.3. Classic vs S/Si
      • 2.1.3.4. EndoWrist
      • 2.1.3.5. Energy
      • 2.1.3.6. Newer Si instruments
  • 2.2. dVRK controllers
    • 2.2.1. Custom boards
      • 2.2.1.1. Introduction
      • 2.2.1.2. Logic board FPGA
      • 2.2.1.3. Power board QLA
      • 2.2.1.4. Power board dRAC
    • 2.2.2. Classic
      • 2.2.2.1. Introduction
      • 2.2.2.2. Exterior
      • 2.2.2.3. Internal layout
      • 2.2.2.4. Components
    • 2.2.3. Classic SUJ
      • 2.2.3.1. Introduction
      • 2.2.3.2. Exterior
      • 2.2.3.3. Internal layout
      • 2.2.3.4. Components
    • 2.2.4. Si
      • 2.2.4.1. Introduction
      • 2.2.4.2. Exterior
      • 2.2.4.3. Internal layout
      • 2.2.4.4. Components
    • 2.2.5. Controller versions
      • 2.2.5.1. dVRK Classic arm controllers
      • 2.2.5.2. dVRK-Si arm controllers
      • 2.2.5.3. dVRK Classic SUJ controllers
  • 2.3. User provided
    • 2.3.1. Computers
      • 2.3.1.1. Hardware
      • 2.3.1.2. OS
    • 2.3.2. Miscellaneous
      • 2.3.2.1. Stereo display
      • 2.3.2.2. FireWire cables
      • 2.3.2.3. Foot pedal extension cable
      • 2.3.2.4. SD card reader
• 3. Hardware setup
  • 3.1. Introduction
  • 3.2. E-Stop
    • 3.2.1. Summary
    • 3.2.2. Overview of safety chain
    • 3.2.3. Parts used for the e-stop
    • 3.2.4. Modular E-stop chain (recommended)
    • 3.2.5. Monolithic E-stop chain (not recommended)
    • 3.2.6. Issue with two 5-pin connectors
    • 3.2.7. A quick note about grounding
    • 3.2.8. Debugging
      • 3.2.8.1. Test single FPGA-QLA board set (bypassing relays on QLA boards)
      • 3.2.8.2. Test single controller box with QLA relays in the loop
      • 3.2.8.3. Hardware Debug
  • 3.3. Classic
    • 3.3.1. Unboxing
      • 3.3.1.1. Intuitive components
      • 3.3.1.2. dVRK controllers
    • 3.3.2. Mount
      • 3.3.2.1. MTMs
      • 3.3.2.2. SUJ
      • 3.3.2.3. PSMs
      • 3.3.2.4. ECM
    • 3.3.3. Connections
    • 3.3.4. Modifications
      • 3.3.4.1. Surgeon console
      • 3.3.4.2. Sterile adapter
      • 3.3.4.3. Foot pedals
      • 3.3.4.4. Head sensor
      • 3.3.4.5. Endoscope focus controller
      • 3.3.4.6. Instrument detection
      • 3.3.4.7. Console height adjustment
      • 3.3.4.8. QLA heat sink upgrade
      • 3.3.4.9. Custom IOs
      • 3.3.4.10. dMIB modification for setup joints switch ECM pre 2015
  • 3.4. Si
    • 3.4.1. Single arm
      • 3.4.1.1. Mounting options
      • 3.4.1.2. Connections
    • 3.4.2. SUJ
      • 3.4.2.1. Preparation
      • 3.4.2.2. dSIB-Si and dSIB-Z-Si
      • 3.4.2.3. JHU setup
      • 3.4.2.4. DGIST setup
    • 3.4.3. ESPM and ESSJ
      • 3.4.3.1. ESPM
      • 3.4.3.2. ESSJ
      • 3.4.3.3. ESXX Programmer
  • 3.5. Instruments
• 4. Firmware
  • 4.1. Introduction
  • 4.2. Upgrade
    • 4.2.1. FPGA1394V1 and V2
    • 4.2.2. FPGA1394V3
    • 4.2.3. ESPM and ESSJ
    • 4.2.4. dSIB-Si and dSIB-Si-Z
• 5. Software
  • 5.1. Compilation
    • 5.1.1. Repositories
    • 5.1.2. ROS 2
      • 5.1.2.1. Ubuntu packages
      • 5.1.2.2. Colcon workspace, clone and build
      • 5.1.2.3. Testing
    • 5.1.3. ROS 1
      • 5.1.3.1. Ubuntu packages
      • 5.1.3.2. Catkin workspace, clone and build
      • 5.1.3.3. Testing
    • 5.1.4. CMake
      • 5.1.4.1. Introduction
      • 5.1.4.2. Dependencies
      • 5.1.4.3. Getting the code
      • 5.1.4.4. Compilation
      • 5.1.4.5. Environment variables
      • 5.1.4.6. Screenshots
  • 5.2. dVRK system
    • 5.2.1. Amp1394
      • 5.2.1.1. Overview
      • 5.2.1.2. Links
    • 5.2.2. Components
      • 5.2.2.1. Introduction
      • 5.2.2.2. Threads
      • 5.2.2.3. Widgets
      • 5.2.2.4. Low level IOs
      • 5.2.2.5. PID
      • 5.2.2.6. Arms
      • 5.2.2.7. SUJ
      • 5.2.2.8. PSM teleoperation
      • 5.2.2.9. ECM teleoperation
      • 5.2.2.10. System
      • 5.2.2.11. Console
    • 5.2.3. Bridges
      • 5.2.3.1. ROS
      • 5.2.3.2. sawSocketStreamer
      • 5.2.3.3. sawOpenIGTLink
  • 5.3. Video and data
    • 5.3.1. Architecture and design choices
      • 5.3.1.1. The Teleoperation Latency Challenge
      • 5.3.1.2. Separation of video data and control data
    • 5.3.2. System topology and data flow
    • 5.3.3. The @dvrk socket convention
    • 5.3.4. Timing and synchronization
    • 5.3.5. Documentation structure
      • 5.3.5.1. dvrk_data
      • 5.3.5.2. dvrk_console
  • 5.4. Simulators
    • 5.4.1. Choosing a backend
    • 5.4.2. Shared runtime and ROS interfaces
      • 5.4.2.1. CRTK topics and command behavior
      • 5.4.2.2. Cartesian reference frames
      • 5.4.2.3. Monitoring
    • 5.4.3. Configuration and scene composition
      • 5.4.3.1. Common runtime fields
      • 5.4.3.2. Launch arguments
      • 5.4.3.3. Scenes and exercises
    • 5.4.4. dvrk_simulator_base
      • 5.4.4.1. Patient-cart frames
      • 5.4.4.2. System startup
    • 5.4.5. dvrk_pybullet
      • 5.4.5.1. Setup and launch
      • 5.4.5.2. Backend settings and video
    • 5.4.6. dvrk_newton
      • 5.4.6.1. Setup and launch
      • 5.4.6.2. Backend settings and grasping
    • 5.4.7. dvrk_isaac_sim
      • 5.4.7.1. Setup and launch
      • 5.4.7.2. Backend settings and video
    • 5.4.8. OpenXR and patient-cart sessions
  • 5.5. Applications
    • 5.5.1. System
      • 5.5.1.1. Overview
      • 5.5.1.2. Command line options
      • 5.5.1.3. Configuration file
      • 5.5.1.4. Dynamic components
    • 5.5.2. Video and data
      • 5.5.2.1. Live pipeline and display
      • 5.5.2.2. Data collection, annotation and extraction
      • 5.5.2.3. Calibration and utilities
    • 5.5.3. Debugging
      • 5.5.3.1. qladisp
      • 5.5.3.2. sawRobotIOQtConsole
      • 5.5.3.3. sawIntuitiveResearchKitPID
    • 5.5.4. Calibration
      • 5.5.4.1. sawRobotIO1394CurrentCalibration
      • 5.5.4.2. dvrk_calibrate_potentiometers.py
      • 5.5.4.3. dvrk_calibrate_potentiometer_psm.py
      • 5.5.4.4. sawIntuitiveResearchKitGripperCalibration
      • 5.5.4.5. sawIntuitiveResearchKitSiPotentiometersCalibration
      • 5.5.4.6. dvrk_calibrate_suj.py
      • 5.5.4.7. dvrk_camera_registration.py
    • 5.5.5. Utilities
      • 5.5.5.1. qlacommand
      • 5.5.5.2. dvrk-io-config-generator.py
      • 5.5.5.3. dvrk-system-config-wizard
      • 5.5.5.4. dvrk-remove-logs.py
      • 5.5.5.5. dvrk_reset_teleoperation.py
      • 5.5.5.6. hrsv_widget
      • 5.5.5.7. dvrk_console stereo_display
      • 5.5.5.8. dvrk_console control_panel
      • 5.5.5.9. dvrk-sd-card-updater.py
      • 5.5.5.10. dvrk_teleoperation.py
      • 5.5.5.11. rqt_dvrk
• 6. Connectivity
  • 6.1. Introduction
    • 6.1.1. FireWire only
    • 6.1.2. FireWire with Ethernet bridge
    • 6.1.3. Ethernet only
  • 6.2. FireWire
    • 6.2.1. Important notes
    • 6.2.2. Setup
      • 6.2.2.1. FireWire adapter
      • 6.2.2.2. Drivers
      • 6.2.2.3. Set permissions for FireWire devices
    • 6.2.3. Testing connectivity
      • 6.2.3.1. qladisp
      • 6.2.3.2. ls -l /dev/fw*
      • 6.2.3.3. dmesg -w
      • 6.2.3.4. udevadm
  • 6.3. Ethernet
    • 6.3.1. Important Notes
    • 6.3.2. Setup
      • 6.3.2.1. Ethernet adapter
      • 6.3.2.2. Configuration
    • 6.3.3. Testing connectivity
      • 6.3.3.1. qladisp
      • 6.3.3.2. ping
• 7. Configuration files
  • 7.1. Overview
    • 7.1.1. Types of files
      • 7.1.1.1. Site specific files
      • 7.1.1.2. Shared files
    • 7.1.2. Where are the configuration files
      • 7.1.2.1. Site specific files
      • 7.1.2.2. Shared files
    • 7.1.3. How to create the configuration files
  • 7.2. Physical identifiers
    • 7.2.1. Introduction
    • 7.2.2. Board ID
      • 7.2.2.1. Overview
      • 7.2.2.2. Default board IDs
      • 7.2.2.3. Setting the board ID
    • 7.2.3. Arm serial number
  • 7.3. Configuration generators
    • 7.3.1. Arm IO, arm and arm system
    • 7.3.2. System configuration generator
  • 7.4. System
    • 7.4.1. Overview
    • 7.4.2. Settings
    • 7.4.3. IOs
    • 7.4.4. Arms
    • 7.4.5. Consoles
    • 7.4.6. Focus controller
    • 7.4.7. Custom components
      • 7.4.7.1. USB “joystick” foot pedals
  • 7.5. Arm
    • 7.5.1. Instrument detection
  • 7.6. SUJ
    • 7.6.1. Classic
    • 7.6.2. Si
    • 7.6.3. Fixed
  • 7.7. Custom instruments
    • 7.7.1. Introduction
    • 7.7.2. Main files
    • 7.7.3. Examples
      • 7.7.3.1. Change the control point
      • 7.7.3.2. Change jaw’s angles (grasping torque)
      • 7.7.3.3. Disable the engage procedure
      • 7.7.3.4. New mechanical design
  • 7.8. dMIB IOs reference
    • 7.8.1. Controllers
    • 7.8.2. External devices
      • 7.8.2.1. Foot pedals
      • 7.8.2.2. da Vinci head sensor
      • 7.8.2.3. dVRK head sensor
      • 7.8.2.4. Endoscope focus controller
      • 7.8.2.5. Labels on dVRK Classic controllers
• 8. Calibration
  • 8.1. Classic
    • 8.1.1. Introduction
    • 8.1.2. Motor current
      • 8.1.2.1. Introduction
      • 8.1.2.2. Procedure
    • 8.1.3. ECM brakes
      • 8.1.3.1. Introduction
      • 8.1.3.2. Procedure
    • 8.1.4. Potentiometers
      • 8.1.4.1. Introduction
      • 8.1.4.2. Requirements
      • 8.1.4.3. Calibrating scales
      • 8.1.4.4. Calibrating offsets
    • 8.1.5. PSM third joint potentiometer offset
      • 8.1.5.1. Introduction
      • 8.1.5.2. Manual method
      • 8.1.5.3. Automatic method
      • 8.1.5.4. Effects on positioning accuracy
    • 8.1.6. MTM gripper
      • 8.1.6.1. Introduction
      • 8.1.6.2. Procedure
      • 8.1.6.3. Validation
    • 8.1.7. MTM gravity compensation
    • 8.1.8. SUJ potentiometers
      • 8.1.8.1. Labels
      • 8.1.8.2. Label placement
      • 8.1.8.3. Calibration
      • 8.1.8.4. Validation
  • 8.2. Si
    • 8.2.1. PSMs and ECM potentiometers
      • 8.2.1.1. Introduction
      • 8.2.1.2. Procedure
    • 8.2.2. SUJ potentiometers
• 9. Usage
  • 9.1. Tips
    • 9.1.1. Terminal
    • 9.1.2. dVRK
  • 9.2. Real robot
    • 9.2.1. Powering on controllers
    • 9.2.2. Checking connection to controllers
    • 9.2.3. Start with your configuration files
    • 9.2.4. Testing motor power
    • 9.2.5. Homing
    • 9.2.6. Monitoring
    • 9.2.7. Setting up the instruments and endoscope
    • 9.2.8. Positioning your PSMs and ECM
    • 9.2.9. Visualization
  • 9.3. Simulation
    • 9.3.1. Kinematic simulation
      • 9.3.1.1. Run the simulation
      • 9.3.1.2. Configuration and launch files
      • 9.3.1.3. Usage
    • 9.3.2. Dynamic simulation
• 10. Development
  • 10.1. Options
  • 10.2. Middleware bridges
    • 10.2.1. ROS
      • 10.2.1.1. Description
      • 10.2.1.2. Python client
      • 10.2.1.3. Matlab client
      • 10.2.1.4. arm_from_ros component
      • 10.2.1.5. Discussion
    • 10.2.2. sawSocketStreamer
      • 10.2.2.1. Description
      • 10.2.2.2. How to
      • 10.2.2.3. Discussion
    • 10.2.3. sawOpenIGTLink
      • 10.2.3.1. Description
      • 10.2.3.2. How to
      • 10.2.3.3. Discussion
  • 10.3. Generic components
    • 10.3.1. Embedded Python interpreter
      • 10.3.1.1. Jupyter kernel
    • 10.3.2. Collectors
      • 10.3.2.1. Introduction
      • 10.3.2.2. Configuration
      • 10.3.2.3. Output
      • 10.3.2.4. Control
      • 10.3.2.5. Drawbacks
    • 10.3.3. Plugins
      • 10.3.3.1. Alternative hardware
  • 10.4. Custom components
    • 10.4.1. Derived components
    • 10.4.2. Writing your own
  • 10.5. Coordinate systems
    • 10.5.1. Introduction
    • 10.5.2. Single arm
      • 10.5.2.1. Surgeon’s side
      • 10.5.2.2. Patient’s side
    • 10.5.3. SUJ
      • 10.5.3.1. Overview
      • 10.5.3.2. Intuitive SUJ
      • 10.5.3.3. SUJ Fixed
  • 10.6. API
    • 10.6.1. Introduction
    • 10.6.2. Arms
      • 10.6.2.1. All
      • 10.6.2.2. ECM
      • 10.6.2.3. MTM
      • 10.6.2.4. PSM
    • 10.6.3. System
      • 10.6.3.1. General
      • 10.6.3.2. Per console
      • 10.6.3.3. Foot pedals
    • 10.6.4. Teleoperation
      • 10.6.4.1. PSM
      • 10.6.4.2. ECM
    • 10.6.5. Miscellaneous
      • 10.6.5.1. Collectors
      • 10.6.5.2. Focus controller
      • 10.6.5.3. Audio
• 11. Video
  • 11.1. Overview
  • 11.2. Sources
    • 11.2.1. Classic SD
      • 11.2.1.1. Cameras
      • 11.2.1.2. CCUs
    • 11.2.2. S HD
      • 11.2.2.1. Ikegami
      • 11.2.2.2. Panasonic
    • 11.2.3. Si HD
      • 11.2.3.1. Camera
      • 11.2.3.2. CCUs
  • 11.3. Displays
    • 11.3.1. Introduction
    • 11.3.2. HRSV with original CRTs
      • 11.3.2.1. SD HRSV
      • 11.3.2.2. ISI HD HRSV
    • 11.3.3. HRSV with flat panels
    • 11.3.4. Goovis HMD
      • 11.3.4.1. Introduction
      • 11.3.4.2. Description
      • 11.3.4.3. Using the internal head sensor
      • 11.3.4.4. Low-tech solution to stream the endoscope video
      • 11.3.4.5. Mount
  • 11.4. Hardware based pipeline
  • 11.5. Software based pipeline
    • 11.5.1. Introduction
    • 11.5.2. Frame grabbers
      • 11.5.2.1. Frame grabbers and ROS
      • 11.5.2.2. PCIe Blackmagic DeckLink Duo SDI frame grabber
      • 11.5.2.3. USB SD S-Video frame grabbers
    • 11.5.3. ROS/gscam
      • 11.5.3.1. Introduction
      • 11.5.3.2. (rqt_)image_view
      • 11.5.3.3. dVRK launch files
    • 11.5.4. Calibration
      • 11.5.4.1. Where to save the calibration results
      • 11.5.4.2. Start the video
      • 11.5.4.3. Calibrate the camera
      • 11.5.4.4. Restart the video using the calibration
      • 11.5.4.5. RViz
• 12. Troubleshooting
  • 12.1. Potentiometers
    • 12.1.1. Introduction
    • 12.1.2. Connections
    • 12.1.3. Visual checks
    • 12.1.4. Configuration files
    • 12.1.5. Summary
• 13. References
  • 13.1. Acronyms
    • 13.1.1. Intuitive Surgical
    • 13.1.2. dVRK
      • 13.1.2.1. General
      • 13.1.2.2. dVRK specific
  • 13.2. Generations of da Vinci systems
    • 13.2.1. Models
    • 13.2.2. dVRK support
  • 13.3. Publications
    • 13.3.1. Credit/Citation
    • 13.3.2. dVRK
    • 13.3.3. dVRK community
  • 13.4. Meetings
  • 13.5. Videos
    • 13.5.1. dVRK
    • 13.5.2. Applications
  • 13.6. Links
    • 13.6.1. Intuitive Surgical
      • 13.6.1.1. Sites
      • 13.6.1.2. Documents
    • 13.6.2. Open source
      • 13.6.2.1. General
      • 13.6.2.2. Mechatronics
      • 13.6.2.3. Software
      • 13.6.2.4. CAD
  • 13.7. Related systems