@inproceedings{a3b72ddd806547328fda065a22e91564,
title = "An open-source research kit for the da Vinci{\textregistered} Surgical System",
abstract = "We present a telerobotics research platform that provides complete access to all levels of control via open-source electronics and software. The electronics employs an FPGA to enable a centralized computation and distributed I/O architecture in which all control computations are implemented in a familiar development environment (Linux PC) and low-latency I/O is performed over an IEEE-1394a (FireWire) bus at speeds up to 400 Mbits/sec. The mechanical components are obtained from retired first-generation da Vinci {\textregistered} Surgical Systems. This system is currently installed at 11 research institutions, with additional installations underway, thereby creating a research community around a common open-source hardware and software platform.",
author = "Peter Kazanzidesf and Zihan Chen and Anton Deguet and Fischer, {Gregory S.} and Taylor, {Russell H.} and Dimaio, {Simon P.}",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 ; Conference date: 31-05-2014 Through 07-06-2014",
year = "2014",
month = sep,
day = "22",
doi = "10.1109/ICRA.2014.6907809",
language = "English (US)",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "6434--6439",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",
}