An Open-Source Research Kit for the da Vinci R © Surgical System

@inproceedings{Kazanzides2014AnOR,
  title={An Open-Source Research Kit for the da Vinci R © Surgical System},
  author={Peter Kazanzides and Zihan Chen and Anton Deguet and Gregory S. Fischer and Russell H. Taylor and Simon P. DiMaio},
  year={2014}
}
We present a telerobotics research platform that provides complete access to all levels of control via opensource 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 lowlatency I/O is performed over an IEEE-1394a (FireWire) bus at speeds up to 400 Mbits/sec. The mechanical components are obtained from retired first… CONTINUE READING

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