Attaching a Surgical Insertion Tool onto the End-effector of an Industrial Robot

Contents

This repository contains packages used to drive an ABB robot (can be replaced by other robots) and an insertion tool for da Vinci Surgical System controlled by four servos. The software structure is shown in the following figure.

This is a course project of RBE580/ME5205 Biomedical Robotics taught by Prof. Gregory Fischer from Worcester Polytechnic Institute (WPI).

• Video

• Document

Authors

Yan Wang, Yuqi Jiang, Tianyu Cheng, Abhijeet Thakan, and Kenechukwu Mbanisi

Dependency

• ROS-industrial/abb_experimental
• wpi-dvrk-ros
• Modern_Robotics
• pyquaternion

Install

• Install abb_experimental from https://github.com/wangyanhit/abb_experimental

• Install controller packages for the gazebo model

sudo apt install ros-kinetic-gazebo-ros*
sudo apt install ros-kinetic-joint-state-controller
sudo apt install ros-kinetic-joint-trajectory-controller

Also, additional required packages can be installed by looking at the error log after running the gazebo launch file.

sudo apt install ros-kinetic-<required-package>

• Clone this package in (ROS workspace path)/src folder

git clone https://github.com/wangyanhit/surgical_industrial_arm.git

• Clone dvrk-ros in (ROS workspace path)/src folder (this package includes the model of the insertion tool)

git clone https://github.com/WPI-AIM/dvrk_env.git

Usage

• launch ABB Gazebo model

roslaunch abb_irb120_gazebo irb120_gazebo.launch

• launch ABB robot

roslaunch abb_irb120_support robot_interface_download_irb120_3_58.launch robot_ip:=192.168.125.1

• connect Arduino

rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0 _baud:=115200

• run package node

~~~rosrun surgical_industrial_arm trajectory_generator.py~~~
rosrun surgical_industrial_arm kinematics_node.py _is_simulation:=True