Implementation of a Motion Planning Framework for the daVinci Surgical System Research Kit
نویسندگان
چکیده
Our goal is to extend the capabilities of robots used for laparoscopic surgeries, in particular the daVinci Surgical System (Intuitive Surgical). Primarily, we have integrated Robot Operating System (ROS) [1] as a middleware for the teleoperation control mode of the daVinci Research Kit (dVRK) [2]. This integration of ROS significantly enhances the ability to leverage the vast number of tools commonly used for robotics, to be employed to the dVRK.
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