An Open-Source Hardware and Software Platform for Telesurgical Robotics Research
An Open-Source Hardware and Software Platform for Telesurgical Robotics Research
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用于远程手术机器人研究的开源硬件和软件平台
DOI：
10.54294/2dcog6
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
P. Kazanzides
中科院分区：
文献类型：
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作者：
Zihan Chen;A. Deguet;Russell Taylor;S. DiMaio;Gregory Fischer;P. Kazanzides
我们目前的工作是开发一个远程机器人研究平台，通过开源定制电子产品和软件提供对所有级别控制的完全访问。电子器件采用FPGA来实现集中式计算和分布式I/O架构，其中所有控制计算都在熟悉的开发环境中实现（Linux PC）和低延迟I/O通过IEEE-1394 a（火线）总线，速度高达400兆比特/秒。该系统的机械部件由用于达芬奇系统的研究套件提供，其由第一代da芬奇手术机器人的主工具操纵器（MTM）、患者侧操纵器（PSM）和立体声控制台组成。该系统目前已在11个研究机构安装或计划安装，今后可能还会安装更多的系统，从而围绕一个共同的开放源码硬件和软件平台建立一个研究社区。
We present our work to develop a telerobotics research platform that provides complete access to all levels of control via open-source custom electronics and software. The electronics employs an FPGA to enable a centralized computation and distributed I/O architecture in which all control computations are implemented in a familiar development environment (Linux PC) and low-latency I/O is performed over an IEEE-1394a (Firewire) bus at speeds up to 400 Mbits/sec. The mechanical components of the system are provided by the Research Kit for the da Vinci System, which consists of the Master Tool Manipulators (MTMs), Patient Side Manipulators (PSMs), and stereo console of the first-generation da Vinci surgical robot. This system is currently installed, or planned for installation, at 11 research institutions, with additional installations likely in the future, thereby creating a research community around a common open-source hardware and software platform.