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dVRK setup (ROS1, SurGLab)
- dVRK Wiki (official): https://dvrk.readthedocs.io/2.3.0/
- dVRK Wiki (community): https://research.intusurg.com/index.php/Main_Page
- dVRK repo by JHU: https://github.com/jhu-dvrk
- Original version: da Vinci S full system (clinical)
- We replaced the existing arms with 1 PSM and 1 ECM provided by IS, ensuring compatibility with the dVRK system.
- Current configuration: Si ver. for PSM&ECM, Classic ver. for MTM
Remove all electronic components in the base of the patient cart, including battery, power supply, FPGA circuit etc
Place the 4 DVRK controllers in this space. Open the housing of each controller and set the board ID.
Connect the controller’s dSIB board, safety chain, FireWire (or Ethernet) cable, and power cable.
(Refer to the dVRK Wiki for details.)
Use #4-40x3/8inch (L=9.5mm) screw to tighten dSIB board to the back of the controller.
Check the number of custom ESPM boards you have:
- You will need: 1 ESPM board per SUJ and 1 ESPM board per PSM(or ECM). The ESPM boards are provided by JHU.
- In our case, we have 8 ESPM board in total for 4 SUJ and 3 PSM with 1 ECM.
- These boards are responsible for updating the firmware of each arm at every boot.
- You must ensure that the appropriate version of the firmware is correctly copied to the Micro SD card inserted in each ESPM board.
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For the boards attached to PSM/ECM: https://github.com/jhu-cisst/mechatronics-embedded/releases/latest/download/fpgav3-micro-sd.zip
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For the boards attached to the SUJ, use the firmware provided by JHU.
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Each controller also has a Micro SD card, and the same firmware as PSM/ECM should be copied onto it.
Remove the plastic cover on the PSM/ECM and connect the ESPM board.
Make sure the cable with the yellow marking must be oriented toward the board.
Remove the plastic cover on the SUJ and connect the ESPM board.
With the internal board of the SUJ facing you, plug the ESPM board into the connector located on the left side.
Make sure the cable with the yellow marking must be oriented toward the board.
Turn on the power of the controller.
Each ESPM board's LED will briefly turn on (approximately 1 second) and then turn off.
- PSM/ECM boards → white LED
- SUJ boards → blue LED
Remove the plastic covers on the side/back of the master console.
Remove all electric components at the back, including battery, power supply, PCB boards, etc.
Refer to S_Console_Disassembly from dVRK community.
We only need large cables connected to MTM.
NEVER CUT electrical wires.
- Connect the thick cables that comes from the MTM to the controller.
- Update the micro-SD card in the MTM controller.
- Check connection of the safety chain, firewire, etc.
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