2.2.2.4. Components

Custom boards (PCBs)

• Component versions by build/date.

• The FPGA and QLA designs are open source and available on GitHub: https://jhu-cisst.github.io/mechatronics.

• For the DQLA based controller, the DQLA-Q and DQLA-F designs are open source and available on GitHub: https://github.com/jhu-dvrk/dvrk-DQLA

• The dMIB is provided by Intuitive Surgical. The design, including schematics and BOM, are available on GitHub: https://github.com/jhu-dvrk/dvrk-pcb-dMIB

Power supplies

• All boxes contain a 12V (50W) logic power supply that provides power to the FPGA boards and the safety chain.

• Each box also contains one or more motor power supplies that are connected to the QLAs:

  • MTM: one 24V (75W) power supply connected to QLA #1 and one 12V (50W) power supply connected to QLA #2

  • PSM: one 24V (225W) power supply connected to both QLAs

  • ECM: one 36V (225W) power supply connected to both QLAs

• Replacement power supplies:

  • 12V Logic Power Supply (For All) & 12V Motor Power Supply (For MTM): https://www.digikey.com/product-detail/en/cui-inc/VGS-50-12/102-1935-ND/2045666

  • 24V Motor Power Supply (For MTM): https://www.digikey.com/product-detail/en/cui-inc/VGS-75-24/102-1943-ND/2045674

  • 24V Motor Power Supply (For PSM): https://www.astrodynetdi.com/ecatalog/power-supplies/PMK225S-24U

  • 36V Motor Power Supply (For ECM): https://www.astrodynetdi.com/ecatalog/power-supplies/PMK225S-36U

Hardware modifications

• dMIB:

  • ECM switch for SUJ

  • PSM Dallas chip for tool detection

• QLAs:

  • Heat sink and fan