3. Hardware setup

• 3.1. Introduction
• 3.2. E-Stop
  • 3.2.1. Summary
  • 3.2.2. Overview of safety chain
  • 3.2.3. Modular E-stop chain (recommended)
  • 3.2.4. Monolithic E-stop chain (not recommended)
  • 3.2.5. Issue with two 5-pin connectors
  • 3.2.6. A quick note about grounding
  • 3.2.7. Debugging
    • 3.2.7.1. Test single FPGA-QLA board set (bypassing relays on QLA boards)
    • 3.2.7.2. Test single controller box with QLA relays in the loop
    • 3.2.7.3. Hardware Debug
• 3.3. Classic
  • 3.3.1. Unboxing
    • 3.3.1.1. Intuitive components
    • 3.3.1.2. dVRK controllers
  • 3.3.2. Mount
    • 3.3.2.1. MTMs
    • 3.3.2.2. SUJ
    • 3.3.2.3. PSMs
    • 3.3.2.4. ECM
  • 3.3.3. Connections
  • 3.3.4. Modifications
    • 3.3.4.1. Sterile adapter
      • Adapter and instrument detection
      • Support for S/Si instruments
    • 3.3.4.2. Foot pedals
      • Introduction
      • Orginal da Vinci foot pedals
        • Description
        • Connection to dVRK controller
        • Removing the foot pedal tray
        • Configuration
      • dVRK controller compatible foot pedals
        • Material
        • Wiring
        • Configuration
      • USB foot pedals
        • Compilation
        • Configuration
    • 3.3.4.3. Head sensor
      • Introduction
      • daVinci Head Sensor
        • Wiring
        • Testing with qladisp
        • Configuration
      • dVRK Head Sensor
        • Hardware
        • Wiring
        • Physical setup
        • Configuration
    • 3.3.4.4. Endoscope focus controller
      • Introduction
      • da Vinci focus controller
        • Description
        • Wiring
        • Connections
        • Configuration
      • dVRK focus controller
    • 3.3.4.5. Instrument detection
      • Introduction
      • Dallas driver interface
        • Prerequisites
        • dMIB Rev F or newer
        • dMIB Rev A-E
      • 1-wire interface
        • Prerequisites
        • dMIB Rev F or newer
        • dMIB Rev A-E
    • 3.3.4.6. Console height adjustement
      • Introduction
      • Original electronics
      • dVRK solution
    • 3.3.4.7. QLA heat sink upgrade
      • Introduction
      • Power source for the fans
      • Mounting screws
      • Recommended solution
      • Results
    • 3.3.4.8. dMIB modification for setup joints switch ECM pre 2015
• 3.4. Si
  • 3.4.1. Mount
  • 3.4.2. Connections
  • 3.4.3. ESPM
    • 3.4.3.1. Introduction
    • 3.4.3.2. Installation
    • 3.4.3.3. Usage
    • 3.4.3.4. Troubleshooting
  • 3.4.4. SUJ
    • 3.4.4.1. Preparation
    • 3.4.4.2. dESSJ
    • 3.4.4.3. dSIB-Si
    • 3.4.4.4. JHU setup
• 3.5. Instruments