ProposedTOCforRTD - jhu-dvrk/sawIntuitiveResearchKit GitHub Wiki

Tentative TOC for future read the doc dVRK

Introduction
- What is it?
- How to get it?
- Disclaimers
- Groups
- How to use this manual If you have the hardware setup, go to... If you have the PC and config files, go to... Label section as "reference" or "user guide"
The Kit
- Mechanical parts from ISI
- The JHU parts
  - General design with distributed IOs
  - FPGA V1, V2, V3
  - Standard, just a connector, Si is a patchwork
- User provided PC
- Mechatronics
- Software C++ cisst/SAW + ROS bridge + CRTK + clients
Mechanical Hardware Standard (reference)
- Introduction
  - History
  - Overall components, console, video rack, patient cart
  - Most electronics in console
- PSM
  - Arm, description, buttons
  - Adapter
  - Cannula holder
- ECM
  - Arm
  - Cannula holder
  - Endoscope mount
- MTM
- SUJ
- Misc
  - Foot pedals
  - Focus controller
  - Head sensor
Mechanical Hardware Si (reference)
- See standard for layout
Instruments (reference)
- Naming convention
- Standard vs Si
dVRK Standard Controllers (reference)
- Introduction Controller is IO + linear amps for 8 dofs Use of FireWire and Ethernet
- Hardware description
  - QLA
  - FPGA + board ID
  - dMIB + dSIB
- Revisions
  - Dallas chip
  - QLA1 vs DQLA
dVRK Si Controllers (reference)
- Introduction
  - vs Standard, uses IO from ESPM + LVDS + PWM amps
  - For each subsection, specify audience (user, software developer, hardware debug...)
- dRAC
- FPGA, link to Standard Controllers
- ESPM programmer
- dESSJ Hardware description + links
- dSIB-Si, adapter + brake controllers
Hardware setup for the dVRK (user guide)
- E-stop
  - Normal setup
  - Upgrading older controllers
- Standard
  - Connecting arm + SUJ
  - Mounting SUJ controller
  - Custom frames if no SUJ (mounting pattern + CAD if any)
  - PSM adapter mod
  - Extension cable for footpedal
  - Focus controller cable
  - Head sensor cable
- Si
  - SUJ vs custom frame
  - Custom frames if no SUJ (mounting brackets + CAD or at least recommendations)
  - ESPM programmer (FYI) document toggle switch + LEDs
  - Gutting patient cart
  - dESSJ
  - dSIB-Si (all 5)
- Connection to PC Describe physical connection, ref to later section to test connection
- Video (connector for CRTs)
Firmwares -- move this later
- FPGA 1 and 2
- FPGA 3
- ESPM
- ESPM programmer
- dESSJ
Software (user guide)
- Overview of core components
- OS requirements
- Build
  - ROS1
  - ROS2
  - Just AmpIO
  - Just CMake?
Testing communication (user guide)
- OS setup (udev rules, link-local...)
- FW
- Eth
Configuration files (user guide)
- Shared configuration files vs system-specific
- IO
  - Introduction
  - Create
  - Calibrate
- PID
- Kinematics and instruments
- Arm files
  - Introduction
  - Create
- Console files
  - Introduction
  - Create
Applications provided (user guide)
- Console
- Teleoperation
- PID
- IO
- Utilities
  - qladisp
  - qlacommand
  - dvrk_hrsv
  - dvrk-remove-logs
  - dvrk-reset-teleoperation
Application development (Programmer Guide)
- Core components details
- Options (using mts or ROS...)
- Coordinate systems
- ROS interfaces API description
- CRTK python and matlab
Advanced topics
- Custom instruments
Video
- Patient side
  - CCUs + camera descriptions
  - Connecting
  - Software to use?
- Console
  - Goovis, LCD replacement for CRTs
- Calibration
  - 3D
  - Hand-eye
To add:
- Troubleshooting
- FAQ - acronyms, PC configuration