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Controller of the Da Vinci robotic arm instrument using LabVIEW

By Hana Vítová

Abstract

Bachelor work describes creation of interface for surgical robotic hand Da Vinci made by Intuitive Surgical. First goal was to get familiarized with its functions. This is the contents of the first few chapters. The rest of the work focuses on communication design between computer and Da Vinci arm instrument. On the user side, there is a controlling device connected, a gamepad with levers, which allows user to move two independent blades on the instrument. Transmission of this movement to the robotic arm instrument is task of a software programmed in LabVIEW. It evaluates entry data from the gamepad and after comparing them to predefined bounds, it sends bit instructions to Da Vinci. The communication is opened in the last part of the sofware solution and the data (2 bytes) are sent through serial protocol to target device. Program provides also a limited options, which can be set by the user. These settings are primarily used for easy portability between computers. Via graphical interface has user complete visual control over input values. The whole design is based on the real possibilities of arm instrument manoeuvreability and mechanical support design using stepping motors

Topics: serial port; Intuitive Surgical; robot; sériový port; LabVIEW; komunikační protokol; communication protokol; Da Vinci
Publisher: Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií
Year: 2010
OAI identifier: oai:invenio.nusl.cz:232994
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