Software Architecture of the Da Vinci Research Kit
Software Architecture of the Da Vinci Research Kit
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DOI：
10.1109/irc.2017.69
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发表时间：
2017-04
期刊：
影响因子：
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通讯作者：
Zihan Chen;A. Deguet;R. Taylor;P. Kazanzides
中科院分区：
文献类型：
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作者：
Zihan Chen;A. Deguet;R. Taylor;P. Kazanzides
达芬奇研究工具包（dVRK）已安装在全球超过25个研究机构，形成了一个共享公共开源研究平台的研究社区。本文介绍了dVRK的软件体系结构，它包括一个分布式的硬件接口层，一个实时的基于组件的软件框架，并与机器人操作系统（ROS）的集成。该体系结构是可扩展的，以支持多个主动机械手，可重新配置，使研究人员能够将一个完整的系统划分为多个独立的子系统，并可扩展到所有级别的控制。
The da Vinci Research Kit (dVRK) has been installed at over 25 research institutions across the world, forming a research community sharing a common open-source research platform. This paper presents the dVRK software architecture, which consists of a distributed hardware interface layer, a real-time component-based software framework, and integration with the Robot Operating System (ROS). The architecture is scalable to support multiple active manipulators, reconfigurable to enable researchers to partition a full system into multiple independent subsystems, and extensible at all levels of control.