A Software Framework for the Development of Collaborative Robotic Surgery : Robotics Toolkit for Collaborative Work.

EasyChair Preprint 9341

Abstract

In the past few decades, robot-assisted minimally invasive surgery has made a significant impact in operating rooms due to its high dexterity, small tool size, and impact on the adoption of minimally invasive techniques. Medical robotics endeavors at numerous academic institutions and leading surgical robot companies have contributed to the development of intelligence and different levels of autonomy in surgical robots in recent years. To accelerate interaction within the research community and prevent repeated development, we propose the Collaborative Robotics Toolkit (CRTK), a common API for the RAVEN-II and da Vinci Research Kit (dVRK), which are both open surgical robot platforms installed in over 40 institutions globally. Other robots and devices have been added to CRTK, including industrial robots and simulations of robotic systems. In areas such as semiautonomous teleoperation and medical robotics, this API provides a community software infrastructure that can be used for research and education. The purpose of this paper is to present the concepts, design details, and integration of CRTK with physical robot systems and simulation platforms.

Keyphrases: Collaborative Robotics Toolkit (CRTK), Master Tool Manipulators (MTMs), da Vinci Research Kit (dVRK)

@booklet{EasyChair:9341,
  author    = {Gunjan Bhandari and Sanskar Ghosh and Dimpal Saini and Anmol Jain},
  title     = {A Software Framework for the Development of Collaborative Robotic Surgery : Robotics Toolkit for Collaborative Work.},
  howpublished = {EasyChair Preprint 9341},
  year      = {EasyChair, 2022}}