7.8. dMIB IOs reference

This page describes the different IOs used by the dVRK peripheral devices (pedals, head sensor…). Make sure you don’t re-use these if you need to create a custom IO cable.

7.8.1. Controllers

In the table below:

  • Board: which FPGA/QLA board set

  • I/O: whether Input (I) or Output (O), followed by bit number

  • QLA: signal name on QLA schematics

  • MTM: use of this I/O by MTM controller

  • PSM: use of this I/O by PSM controller

  • ECM: use of this I/O by ECM controller

  • SUJ/dSIB: use of this I/O for setup joint controller

  • dMIB pin: which connector (DOF1-DOF8 or FP) and pin number (after :). Note that DOF1-DOF7 are HD15 connectors, DOF8 is a HD26 connector, and FP (foot pedal) is a DB15 connector.

Note

For Classic controllers using a DQLA/FPGA V3+, the second board Id is not used. You need to add 16 to all I/O bit numbers for the second board and use the first board. For example, “2 I:4” will become “1 I:20”.

dMIB IOs

Board

I/O

QLA

MTM

PSM

ECM

SUJ/dSIB

dMIB pin

1

I:0

HOME1

daVinci Head

SUJ Clutch

Manip Clutch

Clutch 1

DOF1:7

1

I:1

HOME2

Clutch 2

DOF2:7

1

I:2

HOME3

Manip clutch

SUJ Clutch

Clutch 3

DOF3:7

1

I:3

HOME4

dVRK head

Clutch 4

DOF4:7

1

I:4

POSLIM1

daVinci Head

MotorUp

DOF1:3

1

I:5

POSLIM2

MotorDown

DOF2:3

1

I:6

POSLIM3

DOF3:3

1

I:7

POSLIM4

DOF4:3

1

I:8

NEGLIM1

daVinci Head

DOF1:5

1

I:9

NEGLIM2

DOF2:5

1

I:10

NEGLIM3

DOF3:5

1

I:11

NEGLIM4

DOF4:5

1

O:0

DOUT1

Endoscope or daVinci Head

NoMuxReset

DOF1:14

1

O:1

DOUT2

Endoscope

MuxIncrement

DOF2:14

1

O:2

DOUT3

ControlPWM

DOF3:14

1

O:3

DOUT4

DisablePWM

DOF4:14

2

I:0

HOME1

Foot pedal

DOF5:7, FP:5

2

I:1

HOME2

Foot pedal

DOF6:7, FP:12

2

I:2

HOME3

Foot pedal

DOF7:7, FP:10

2

I:3

HOME4

Foot pedal

FP:1

2

I:4

POSLIM1

Foot pedal

DOF5:3, FP:6

2

I:5

POSLIM2

Foot pedal

DOF6:3, FP:4

2

I:6

POSLIM3

Dallas-In

DOF7:3

2

I:7

POSLIM4

Tool

2

I:8

NEGLIM1

DOF5:5

2

I:9

NEGLIM2

DOF6:5

2

I:10

NEGLIM3

Adaptor

DOF7:5

2

I:11

NEGLIM4

Arm

Arm

Arm

2

O:0

DOUT1

DOF5:14

2

O:1

DOUT2

DOF6:14

2

O:2

DOUT3

Dallas-Out

DOF7:14

2

O:3

DOUT4

HE Select

DOF8:16

Explanation of signals:

  • Adapter indicates whether the sterile adapter is present

  • Tool indicates whether a tool (instrument) is present

  • Arm is an “arm present” signal, which indicates that the arm (MTM, PSM or ECM) is connected

  • HE Select can be used to select which Hall effect sensor (of the two in the MTM gripper) is read by the system. For this to be enabled, there must be a jumper between pins 1 and 2 of J12 on the dMIB.

  • daVinci Head is an interface to the head-in sensor integrated in the full da Vinci console (see below). It is not typically present in dVRK systems. The above pinout assumes it is connected to DOF1 on the back of the controller.

  • dVRK head is a custom head-in sensor developed for the dVRK (see below). The above pinout assumes it is connected to DOF4 on the back of the controller.

  • Endoscope enables software control of the endoscope focus (see below). The above pinout assumes it is connected to both DOF1 and DOF2 on the back of the controller.

  • Dallas-In and Dallas-Out are proposed as the interface to the Dallas PROM chip inside instruments, which would enable reading of the instrument name.

7.8.2. External devices

7.8.2.1. Foot pedals

See da Vinci original foot pedals.

Foot pedals IOs

Board

I/O

Function

2

I:0

Clutch

2

I:1

Cam-

2

I:2

Cam+

2

I:3

Coag

2

I:4

Camera

2

I:5

BiCoag

7.8.2.2. da Vinci head sensor

See da Vinci original head sensor.

da Vinci head sensor IOs

Board

I/O

Function

1

I:0

HeadSensor1

1

I:4

HeadSensor2

1

I:8

HeadSensor3

1

I:12

HeadSensor4

1

O:0

HeadSensorTurnOff

7.8.2.3. dVRK head sensor

See dVRK head sensor.

dVRK head sensor IOs

Board

I/O

Function

1

I:3

Head

7.8.2.4. Endoscope focus controller

See da Vinci focus controller.

da Vinci focus controller IOs

Board

I/O

Function

1

O:0

EndoscopeFocusIn

1

O:1

EndoscopeFocusOut

7.8.2.5. Labels on dVRK Classic controllers

The board numbering on the software side starts with index 0 (e.g. in JSON IO configuration file) but the labels on the back of the controller start at index 1. Keep this in mind if you plan to connect the head sensor to another “DOF” and create your own JSON configuration files.