HeadSensor

1. General Info

The page documents how to make a head sensor for da Vinci Research Kit. The goal is to detect the presence of the operator at the master console using a proximity sensor mounted on the stereo display.

2. Hardware

• 1 Digital Distance Sensor 10cm
  • http://www.pololu.com/product/1134
• 20 Molex pin connectors (Digikey Part No. WM2510-ND)
  • NOTE: we only need 6 pin connectors
• 12-feet S-Video Cable
  • just get one that is long enough
  • any 3 wire cable would work, we just happened to have an old S-Video cable handy
• 1 3-pin straight connector (for the connection to the dVRK controller)
• 1 3-pin right angle connector (for the connection on the sensor side)

3. Wiring

| Senor | Cable | Controller (J18) | | VIN | Red | Pin 8 (VCC-CON-A 5V) | | GND | White | Pin 6 (GND) | | OUT |Yellow | Pin 7 (HOME4) |

Notes:

• J18 is a 15-pin connector labelled DOF 4 on the back of the dVRK controller
• Please connect head sensor and foot pedal on same controller box

4. Setup

Image(wiki:sawIntuitiveResearchKitTutorial/HeadSensor:dvrk-head-sensor-base.jpg, 300px) Setup option 1: base

Image(wiki:sawIntuitiveResearchKitTutorial/HeadSensor:dvrk-head-sensor-side.jpg, 300px)
Setup option 2: side

Image(wiki:sawIntuitiveResearchKitTutorial/HeadSensor:dvrk-head-sensor-controller.jpg, 300px) Connection to controller box

#. 5 Software

• Rerun MATLAB XML config generator to make sure the digital input is renamed "HEAD"
• Update JSON config file to set the presence sensor