ProposedTOCforRTD

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"

• 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

• 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
    • 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
    • dESSJ
    • dSIB-Si (all 5)
  • Connection to PC Describe physical connection, ref to later section to test connection
  • Video

• Firmwares -- move this later

  • FPGA 1 and 2
  • FPGA 3
  • ESPM
  • ESPM programmer
  • dESSJ

• Software

  • Overview of core components
  • OS requirements
  • Build
    • ROS1
    • ROS2
    • Just AmpIO
    • Just CMake?

• Testing communication

  • OS setup (udev rules, link-local...)
  • FW
  • Eth

• Configuration files

  • Shared configuration files vs system-specific
  • IO
    • Introduction
    • Create
    • Calibrate
  • Arm files
    • Introduction
    • Create
  • Console files
    • Introduction
    • Create

• Applications provided

  • 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...)
  • ROS interfaces API description

• Advanced topics

  • Custom instruments

• Video

  • Patient side
    • CCUs + camera descriptions
    • Connecting
    • Software to use?
  • Console
    • ?
  • Calibration
    • 3D
    • Hand-eye