IEEE Robotics & Automation Magazine - June 2017 - 29

mapping from the desired wrist orientation to the PSM's disk rotations.
Figure 10 shows the communication
architecture and the workflow of the
Simulink program.

Cables Routed to Wrist
∆L
Instrument Shaft

Characterization and
Performance Assessment
of the Custom Instruments
CTI Base Mechanism Testing
Initial teleoperation performance assessments of the CTI can be found in
[15]. To expand on these results, the
accuracy and repeatability of the CTI
base mechanism were assessed using
similar tests to the ISO 9283 standard
Manipulating Industrial Robots-Performance Criteria and Related Test
Methods [20]. Measurements of the
distance accuracy, multidirectional
accuracy, and repeatability of the cart
translation, middle tube roll (MTR),
and inner tube roll (ITR) were taken
at discrete joint values: the three PSM
disks that actuate the translation, and
both of the rolls, were sampled at five
evenly spaced values across the diskspace (-160º, -80º, 0º, 80º, and 160º)
degrees. For each joint, the translation,

dVRK
(cisst/SAW)

Master Tool Manipulators
(MTML/MTMR)
* Clutch Status, Gripper
Open/Close, Position,
Orientation

PSM1/PSM2∗
* Manual Homing
Procedure
* PID Joint Level
Control

Tube Roll
Actuation
θ

Tube
Clamp

Wiper
(a)

End-Effector
Actuator

Cable Tensioner
(Fixed)
Wiper
Triangular Pulley
Guide Bank
Spring
End-Effector
Actuation Wire Guide
(b)
Figure 9. (a) The wiper mechanism diagram. (b) The MACRO tool base design.

UDP

MATLAB/Simulink 2014a
(Intel i7 - 3 GHz Quad-Core PC, 8 GB RAM)

Teleoperation
* Master-Slave
Registration
* Motion Scaling
* Forbidden Region
Virtual Fixtures
(Visual Feedback)

Desired PSM
Actuator Angles

Desired EndEffector Pose

Task Space Control
* Tool-Specific Inverse
Kinematics
* Joint Angle/Velocity
Limits
* Clutch

Joint to Actuator Mapping
* Linear Mapping for
PSM's Three Primary
DoF
* Tool-Specific Mapping
of Joint Space to
Actuation Disk Angles

Desired Tool
Joint Angles

∗ The homing procedure, inverse kinematics, joint limits, and joint-to-actuator mapping specified for conventional dVRK
instruments were disabled in cisst/SAW. The automated realignment of the MTMs to the PSM pose was also disabled.
Figure 10. The Simulink program workflow. UDP: user datagram protocol; cisst: computer-integrated surgical systems and technology;
SAW: surgical assistant workstation; PID: proportional-integral-derivative; RAM: random-access memory.

June 2017

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Ieee ROBOTICS & AuTOMATIOn MAGAZIne

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https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2023
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https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2019
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https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2017
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https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2017
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https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2016
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https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2012
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https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2011
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