1. Introduction
2. Components of the kit
3. Hardware setup
4. Firmware
5. Software
6. Connectivity
7. Configuration files
8. Calibration
9. Usage
10. Development
10.1. Options
10.2. Middleware bridges
10.3. Generic components
10.4. Custom components
10.5. Coordinate systems
10.6. API
11. Video
12. Troubleshooting
13. References
dVRK
10.
Development
Edit on GitHub
10.
Development
10.1. Options
10.2. Middleware bridges
10.2.1. ROS
10.2.1.1. Description
10.2.1.2. Python client
Usage
Performance
10.2.1.3. Matlab client
10.2.1.4. arm_from_ros component
10.2.1.5. Discussion
Pros
Cons
Notes
10.2.2. sawSocketStreamer
10.2.2.1. Description
10.2.2.2. How to
Installation
Configuration files
Running
Examples
10.2.2.3. Discussion
Pros
Cons
Useful links
10.2.3. sawOpenIGTLink
10.2.3.1. Description
10.2.3.2. How to
Installation
Configuration files
Running
Examples
10.2.3.3. Discussion
Useful links
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
Operating state
Motion queries
Motion commands
Configuration
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