10.3.2. Plugins
10.3.2.1. Alternative hardware
The dVRK system also supports generic arms, i.e. one can use a different type of hardware as long as there is a cisst/SAW component for it and the component has a provided interface that matches the dVRK arm it is meant to replace. We’ve successfully integrated some alternate for the MTM:
Sensible Phantom Omni using sawSensablePhantom (https://github.com/jhu-saw/sawSensablePhantom): The Omni doesn’t provide a gripper so when used with the default dVRK teleoperation, the jaws are ignored. The two buttons on the stylus can be used to emulate the dVRK foot pedals for “operator present” and “clutch”.
ForceDimension haptic devices and Novint Falcon using sawForceDimensionSDK (https://github.com/jhu-saw/sawForceDimensionSDK): The ForceDimension devices offer different features based on the model. We only tested models with 7 degrees of freedom, i.e. position, orientation and gripper. If the orientation is motorized, it can be used like a da Vinci MTM, and we can enforce that the MTM orientation matches the PSM orientation. ForceDimension devices don’t have buttons so we either have to use a USB foot pedal or the GUI for “operator present” and “clutch”. The Novint Falcon is not as useful for real applications since it doesn’t have a wrist, but it can be used for simple demos and debugging. See example of configuration file
jhu-dVRK-Si-demo/system-Novint-Falcon-PSM1-Teleop.json(https://github.com/dvrk-config/dvrk_config_jhu).
Using an alternate component