Teleoperation devices#

A supplemental specification for teleoperation simulated robots using external control devices

Install drivers#

If you have questions with respect to hardware driver installation, please check https://github.com/JackHaoyingZhou/daVinci_simulation

In src/razer_hydra and src/ros_geomagic folders, detailed instructions are provided.

How to enable teleoperation devices#

In a separate terminal, run following commands directly to enable the devices:

Raze Hydra#

roslaunch razer_hydra hydra.launch

Geomagic Touch#

roslaunch geomagic_control geomagic_headless.launch

MTM#

It would require some acquaintance of dVRK and/or CRTK as prerequisite. Please check the following wiki for more information if you are interested: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/FirstSteps

If you have successfully installed dVRK and have physical MTMs, please run following command to enable MTM firstly:

rosrun dvrk_robot dvrk_console_json -j <json file for MTMs>

2. How to run teleoperation with AMBF#

Run AMBF simulation:#

./run_environment.sh

If you install the integrated environment from https://github.com/JackHaoyingZhou/daVinci_simulation, then, please run

./run_environment0.sh

Run teleoperation#

Firstly, go to teleoperation folder via running

cd ~/surgical_robotics_challenge/scripts/teleoperation

Geomagic#

./geomagic_psms_teleop.sh

Razer Hydra#

HydraL-PSM1 teleop:

./hydral_psm1_teleop.sh

HydraR-PSM2 teleop:

./hydrar_psm2_teleop.sh

HydraL-PSM1-HydraR-PSM2 teleop:

./hydra_psm_pair_teleop.sh

MTM#

MTML-PSM1 teleop:

./mtml_psm1_teleop.sh

MTMR-PSM2 teleop:

./mtmr_psm2_teleop.sh

MTML-PSM1-MTMR-PSM2 teleop:

./mtm_psm_pair_teleop.sh

button instructions#

** Note:

clutch : if you are on "clutch" status, you are free to move your teleoperation device but the PSMs in AMBF will not follow, therefore you can extend your workspace.

Geomagic#

Button Motion	Action
push/hold on clutch button	Clutch
push clutch button twice	Switch PSM arm
push/hold on gripper button	close the gripper

Razer Hydra#

Button Motion	Action
push/hold on clutch button	Clutch
push/hold on reset button and clutch button at the same time	Reset your Razer Hydra base frame the same as your current pose if you feel uncomfortable with default Hydra frame setup
push/hold on gripper button	close the gripper

Reference#

Reference of this work:

@article{munawar2022open,
  title={Open Simulation Environment for Learning and Practice of Robot-Assisted Surgical Suturing},
  author={Munawar, Adnan and Wu, Jie Ying and Fischer, Gregory S and Taylor, Russell H and Kazanzides, Peter},
  journal={IEEE Robotics and Automation Letters},
  volume={7},
  number={2},
  pages={3843--3850},
  year={2022},
  publisher={IEEE}
}