HeadSensor

Table of Contents generated with DocToc

• 1. General Info
• 2. Hardware
• 3. Wiring
• 4. Setup
• 5. Software

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

Sensor	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

• Setup option 1: base

  

• Setup option 2: side

  

• Connector for controller box, connect to DOF 4 on controller with the foot pedals (to use default config files)

  

  

5. Software

• For rev 1.4 and below, rerun MATLAB XML config generator to make sure the digital input is renamed "HEAD"
• For rev 1.5 and above, HEAD is already included in the IO foot pedal XML files
• Update JSON config file to set the presence sensor or point to the IO foot pedal configuration file (rev 1.5)