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
10.3. cisst/SAW components
10.4. Coordinate systems
10.4.1. Introduction
10.4.2. Single arm
10.4.3. SUJ
10.5. API
10.6. ROS client libraries
11. Video
12. Troubleshooting
13. References
dVRK
10.
Development
10.4.
Coordinate systems
Edit on GitHub
10.4.
Coordinate systems
10.4.1. Introduction
10.4.2. Single arm
10.4.2.1. Surgeon’s side
10.4.2.2. Patient’s side
10.4.3. SUJ
10.4.3.1. Overview
10.4.3.2. Intuitive SUJ
10.4.3.3. SUJ Fixed