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2.1.2.3. Endoscopic Camera Manipulator

Arm

The da Vinci Si systems came with one ECM.

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da Vinci Si ECM

Basic information:

  • The arm is attached to the SUJ using 4 long bolts and grooves (same at PSM Si)

  • The arm can be tilted forward (on Si SUJ; 70 degrees)

  • 4 motorized degrees of freedom, 4 actuators with optical encoders

  • The first two motors are located in the first 2 links. The last two motors, insertion and roll along endoscope axis, are located in the insertion base link. The translation mechanism uses a lead screw. transmission

  • All actuators have digital potentiometers, used for both homing and safety checks

  • 3 electric brakes on the first 3 joints to prevent the arm from falling when not powered (like the ECM Classic and PSM Si)

  • The second actuator controls a set of belts used to enforce a RCM point using complementary angles (remote center-of-motion, aka fulcrum point). Google search.

  • The full kinematic chain is composed of two parts, the arm’s base with all the actuation (not sterilized) and a removable endoscope (sterilized)

Cannula and sterile adapter

This part is very similar to the da Vinci Classic so please read the section related to the ECM Classic.

Note

Video on YouTube demonstrating how the ECM Si is prepared: https://youtu.be/7DCDEeAbb3k