An open-source research kit for the da Vinci® Surgical System

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2014, Pages 6434-6439

  Kazanzidesf, Peter ^a   Chen, Zihan ^a   Deguet, Anton ^b   Fischer, Gregory S ^c   Taylor, Russell H ^a   Dimaio, Simon P ^a  

^a Whiting School of Engineering   (United States)

^b Worcester Polytechnic Institute   (United States)

^c INTUITIVE SURGICAL INC   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER OPERATING SYSTEMS; OPEN SOURCE SOFTWARE; SURGERY;

CENTRALIZED COMPUTATION; DEVELOPMENT ENVIRONMENT; MECHANICAL COMPONENTS; OPEN-SOURCE HARDWARES; RESEARCH COMMUNITIES; RESEARCH INSTITUTIONS; RESEARCH PLATFORMS; SURGICAL SYSTEMS;

OPEN SYSTEMS;

EID: 84929190495     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2014.6907809     Document Type: Conference Paper

References (19)

1. M. Quigley, K. Conley, B. Gerkey, J. Faust, T. B. Foote, J. Leibs, R. Wheeler, and A. Y. Ng, "ROS: an open-source Robot Operating System, " in ICRA Workshop on Open Source Software, 2009.
2. B. Hannaford, J. Rosen, D. Friedman, H. King, P. Roan, L. Cheng, D. Glozman, J. Ma, S. N. Kosari, and L. White, "Raven-II: An open platform for surgical robotics research, " IEEE Trans. on Biomedical Engin., vol. 60, no. 4, pp. 954-959, Apr 2013.
3. S. DiMaio and C. Hasser, "The da Vinci research interface, " in MICCAI Workshop on Systems and Arch. for Computer Assisted Interventions, Midas Journal: http://hdl.handle.net/10380/1464, July 2008.
4. A. Kapoor, A. Deguet, and P. Kazanzides, "Software components and frameworks for medical robot control, " in IEEE Intl. Conf. on Robotics and Automation (ICRA)), May 2006, pp. 3813-3818.
5. A. Deguet, R. Kumar, R. Taylor, and P. Kazanzides, "The cisst libraries for computer assisted intervention systems, " in MICCAI Workshop on Systems and Arch. for Computer Assisted Interventions, Midas Journal: http://hdl.handle.net/10380/1465, Sep 2008.
6. M. Y. Jung, A. Deguet, and P. Kazanzides, "A component-based architecture for flexible integration of robotic systems, " in IEEE/RSJ Intl. Conf. on Intell. Robots and Systems (IROS), 2010, pp. 6107-6112.
7. B. Vagvolgyi, S. DiMaio, A. Deguet, P. Kazanzides, R. Kumar, C. Hasser, and R. Taylor, "The Surgical Assistant Workstation: A software framework for telesurgical robotics research, " in MICCAI Workshop on Systems and Arch. for Computer Assisted Interventions, Midas Journal: http://hdl.handle.net/10380/1466, Sep 2008.
8. P. Kazanzides, S. DiMaio, A. Deguet, B. Vagvolgyi, M. Balicki, C. Schneider, R. Kumar, A. Jog, B. Itkowitz, C. Hasser, and R. Taylor, "The Surgical Assistant Workstation (SAW) in minimallyinvasive surgery and microsurgery, " in MICCAI Workshop on Systems and Arch. for Computer Assisted Interventions, Midas Journal: http://hdl.handle.net/10380/3179, Jun 2010.
9. P. Kazanzides and P. Thienphrapa, "Centralized processing and distributed I/O for robot control, " in Technologies for Practical Robot Applications (TePRA), Woburn, MA, Nov 2008, pp. 84-88.
10. D. Anderson, FireWire System Architecture, 2nd Edition. MindShare, Inc., Addison-Wesley, 1999.
11. G. Pratt, P. Willisson, C. Bolton, and A. Hofman, "Late motor processing in low-impedance robots: impedance control of series-elastic actuators, " in American Control Conference, Jun 2004, pp. 3245-3251.
12. U. Hagn, M. Nickl, S. Jörg, G. Passig, T. Bahls, A. Nothhelfer, F. Hacker, L. Le-Tien, A. Albu-Schäffer, R. Konietschke, M. Grebenstein, R. Warpup, R. Haslinger, M. Frommberger, and G. Hirzinger, "The DLR MIRO: A versatile lightweight robot for surgical applications, " Industrial Robot: An Intl. Journal, vol. 35, no. 4, pp. 324-336, 2008.
13. R. Rusu, I. Sucan, B. Gerkey, S. Chitta, M. Beetz, and L. Kavraki, "Real-Time perception-guided motion planning for a personal robot, " in IEEE/RSJ Intl. Conf. on Intell. Robots and Systems (IROS), 2009, pp. 4245-4252.
14. P. Thienphrapa and P. Kazanzides, "A scalable system for real-Time control of dexterous surgical robots, " in Technologies for Practical Robot Applications (TePRA), Nov 2009, pp. 16-22.
15. H. Bruyninckx, P. Soetens, and B. Koninckx, "The real-Time motion control core of the Orocos project, " in IEEE Intl. Conf. on Robotics and Automation (ICRA)), vol. 2, Sep 2003, pp. 2766-2771.
16. Y. Zhang, B. Orlic, P. Visser, and J. Broenink, "Hard real-Time networking on FireWire, " in RT Linux Workshop, Nov 2005.
17. M. A. Tsegaye, "A comparative study of the Linux and Windows device driver architectures with a focus on IEEE1394 (high speed serial bus) drivers, " Masters thesis, Dept. of Computer Science, Rhodes University, Dec 2002.
18. T. Xia, S. Leonard, I. Kandaswamy, A. Blank, L. Whitcomb, and P. Kazanzides, "Model-based telerobotic control with virtual fixtures for satellite servicing tasks, " in IEEE Intl. Conf. on Robotics and Automation (ICRA)), Karlsruhe, Germany, May 2013.
19. T. Gibo, D. Deo, Z. Quek, and A. Okamura, "Effect of load force feedback on grip force control during teleoperation: A preliminary study, " in IEEE Haptics Symposium, Feb 2014.