3.3.3. Connections

The only cable to connect for the Classic MTMs, PSMs and ECM is the large cable with an ITT Cannon 156 connector that comes from the arm.

Overview of wiring between the active arms or SUJs and the dVRK Classic controllers

When connecting to the dVRK controller, make sure you don’t force the connector in, the connector should insert without any forces (ZIF - Zero Insertion Force). The direction varies between arms, cable coming out either on the left or right of the dVRK controller.

Once the connector is inserted, you need to use a large flat head screwdriver to secure it in place. The screw on the back shell is connected to a camshaft to lock the connector to the controller. You need to turn by 90 degrees at most (a quarter turn), clockwise to clock and counterclockwise to unlock. If you need to remove the connector, don’t forget to unscrew it first.

ITT Cannon back shell screw

Warning

Failure to lock/screw the arm connector will lead to bad contacts and will prevent the arm from working correctly.

Arm specific notes:

• The MTM cables are fairly short, so you will need to place the dVRK Classic controllers either on the surgeon’s console or on its side. If you place the controllers next to the console, it is recommended to place them on the left side so the ITT Cannon cables are not bent too tight.

• The cables coming from the PSMs and ECM are reasonably long, so you can place your dVRK Classic controllers in a rack close to the robotic arms. See examples at Johns Hopkins.

  

  Classic SUJ connections, SUJs connected to the single SUJ controller (black box) and active arms connected to the 4 dVRK Classic controllers in rack.

• For the SUJ, don’t use the very long cables that were originally between the patient’s cart and the surgeon’s console. Connect the SUJs directly to the dVRK SUJ controller! When everything is connected, all the connectors at the base of the patient cart should be empty.

  

  Empty connectors on Classic patient cart

  The cables from the SUJs are pretty short, but they should reach the back of dVRK SUJ controller when it is mounted on the patient cart’s column.