Collaborative Robotics Toolkit (CRTK): Open Software Framework for Surgical Robotics Research

Yun Hsuan Su, Adnan Munawar, Anton Deguet, Andrew Lewis, Kyle Lindgren, Yangming Li, Russell H. Taylor, Gregory S. Fischer, Blake Hannaford, Peter Kazanzides

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages48-55
Number of pages8
ISBN (Electronic)9781728152370
DOIs
StatePublished - Nov 2020
Event4th IEEE International Conference on Robotic Computing, IRC 2020 - Virtual, Taichung, Taiwan, Province of China
Duration: Nov 9 2020Nov 11 2020

Publication series

NameProceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020

Conference

Conference4th IEEE International Conference on Robotic Computing, IRC 2020
CountryTaiwan, Province of China
CityVirtual, Taichung
Period11/9/2011/11/20

Keywords

  • collaborative robotics
  • medical robotics
  • open software framework
  • teleoperation

ASJC Scopus subject areas

  • Computer Science Applications
  • Artificial Intelligence
  • Automotive Engineering
  • Control and Optimization
  • Surgery

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