Hello,
First of all, congratulations on this fantastic work. The open-platform adaptor for da Vinci Si instruments looks really interesting, and it is something we would like to explore further in our lab.
At the moment, we have a KUKA LBR iiwa 14. Since it is also a 7-DOF collaborative robot, similar in structure to the KUKA LBR Med 7 R800 used in your work, we were wondering whether your adaptor could also be adapted to our setup. We have tested lbr_fri_ros2_stack for controlling the iiwa through ROS 2.
Before we move forward, I wanted to ask a few questions:
-
Do you think the provided 3D model of the adaptor can be directly mounted on a KUKA LBR iiwa 14, or would we need to modify the CAD design, especially the robot-side flange/mounting interface? I would also like to know whether the main instrument actuation mechanism can remain unchanged, or if there are other mechanical aspects we should adapt for the iiwa 14, such as tool alignment, cable routing, payload distribution, or RCM/trocar-point positioning.
-
From the control side, do you think the same approach could work with the iiwa 14 using FRI/ROS 2?
-
One more optional question: we are also thinking about using a laparoscopic training box (for example, Trainer Set 30° w/ 4 ). In your experience, would most laparoscopic trainer boxes be suitable for this kind of setup, or are there specific things we should check first, such as port position, working volume, camera angle, instrument clearance, or RCM-related constraints?
Thank you.
Hello,
First of all, congratulations on this fantastic work. The open-platform adaptor for da Vinci Si instruments looks really interesting, and it is something we would like to explore further in our lab.
At the moment, we have a KUKA LBR iiwa 14. Since it is also a 7-DOF collaborative robot, similar in structure to the KUKA LBR Med 7 R800 used in your work, we were wondering whether your adaptor could also be adapted to our setup. We have tested
lbr_fri_ros2_stackfor controlling the iiwa through ROS 2.Before we move forward, I wanted to ask a few questions:
Do you think the provided 3D model of the adaptor can be directly mounted on a KUKA LBR iiwa 14, or would we need to modify the CAD design, especially the robot-side flange/mounting interface? I would also like to know whether the main instrument actuation mechanism can remain unchanged, or if there are other mechanical aspects we should adapt for the iiwa 14, such as tool alignment, cable routing, payload distribution, or RCM/trocar-point positioning.
From the control side, do you think the same approach could work with the iiwa 14 using FRI/ROS 2?
One more optional question: we are also thinking about using a laparoscopic training box (for example, Trainer Set 30° w/ 4 ). In your experience, would most laparoscopic trainer boxes be suitable for this kind of setup, or are there specific things we should check first, such as port position, working volume, camera angle, instrument clearance, or RCM-related constraints?
Thank you.