Implementation of a Motion Planning Framework for the daVinci Surgical System Research Kit

Abstract

In the traditional teleoperation mode, the Master Tool Manipulators (MTMs) interface with the Patient Side Manipulators (PSMs). Corresponding changes in the position and orientation of the MTM’s grippers translate into corresponding actuation of the PSM’s joints and correspondingly its end effector’s pose. Integration of ROS as a middleware for data flow significantly enhances the ability to add computer intelligence to the surgical procedures. Within the described framework, kinematic and dynamic simulation models of the MTMs and PSMs have been developed. The framework is tightly integrated with RViz, a 3D visualization tool that is native to ROS and allows for tasks such as planning, manipulation and trajectory control. For planning and manipulation tasks, it is necessary to have a 3D representation of the environment and obstacles. In order to generate 3D point clouds of the environment, we utilize a pair of compact stereo cameras. However, 3D volumes and point clouds from both live and registered preoperative imaging from various sources may be readily incorporated into the system. In this paper, a system architecture and a method for a collision free motion planning is proposed from 3D streaming point clouds. The goal is to provide assistance to the surgeon by guiding a tool to follow an optimal path while avoiding sensitive anatomical features or other obstacles. ROBOT SIMULATION & CONTROL