TY - GEN
T1 - Collaborative Robotics Toolkit (CRTK)
T2 - 4th IEEE International Conference on Robotic Computing, IRC 2020
AU - Su, Yun Hsuan
AU - Munawar, Adnan
AU - Deguet, Anton
AU - Lewis, Andrew
AU - Lindgren, Kyle
AU - Li, Yangming
AU - Taylor, Russell H.
AU - Fischer, Gregory S.
AU - Hannaford, Blake
AU - Kazanzides, Peter
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/11
Y1 - 2020/11
N2 - Robot-assisted minimally invasive surgery has made a substantial impact in operating rooms over the past few decades with their high dexterity, small tool size, and impact on adoption of minimally invasive techniques. In recent years, intelligence and different levels of surgical robot autonomy have emerged thanks to the medical robotics endeavors at numerous academic institutions and leading surgical robot companies. 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)-two open surgical robot platforms installed at more than 40 institutions worldwide. CRTK has broadened to include other robots and devices, including simulated robotic systems and industrial robots. This common API is a community software infrastructure for research and education in cutting edge human-robot collaborative areas such as semi-autonomous teleoperation and medical robotics. This paper presents the concepts, design details and the integration of CRTK with physical robot systems and simulation platforms.
AB - Robot-assisted minimally invasive surgery has made a substantial impact in operating rooms over the past few decades with their high dexterity, small tool size, and impact on adoption of minimally invasive techniques. In recent years, intelligence and different levels of surgical robot autonomy have emerged thanks to the medical robotics endeavors at numerous academic institutions and leading surgical robot companies. 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)-two open surgical robot platforms installed at more than 40 institutions worldwide. CRTK has broadened to include other robots and devices, including simulated robotic systems and industrial robots. This common API is a community software infrastructure for research and education in cutting edge human-robot collaborative areas such as semi-autonomous teleoperation and medical robotics. This paper presents the concepts, design details and the integration of CRTK with physical robot systems and simulation platforms.
KW - collaborative robotics
KW - medical robotics
KW - open software framework
KW - teleoperation
UR - http://www.scopus.com/inward/record.url?scp=85099369590&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85099369590&partnerID=8YFLogxK
U2 - 10.1109/IRC.2020.00014
DO - 10.1109/IRC.2020.00014
M3 - Conference contribution
AN - SCOPUS:85099369590
T3 - Proceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020
SP - 48
EP - 55
BT - Proceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 9 November 2020 through 11 November 2020
ER -