3.4.2. Connections

For a system without SUJ, we provide two custom cables with D-sub connectors at both ends. At one end, they plug in the arm itself (see paragraph below) and the other end is connected to the dVRK-Si controllers.

For users with an original patient cart (SUJ), the connectors for the active arms are not accessible. Therefore, we use the internal wiring in the SUJ arm to bring all the signals to the base of the cart. An additional card (dSIB) is used to interface between the internal connectors at the base of the cart and the dVRK controllers (see Si SUJ).

Overview of wiring between the active arms and the controllers in 2 scenarios: with and without SUJ

For all custom frames, the mounting brackets have an open space at the bottom for the D-sub connectors. The connectors can hold without screws, but you might want to add some kind of strain relief since the cables are pretty heavy.

Standard D-sub connectors on a PSM Si (same as ECM Si)

Standard D-sub connectors at the end of the SUJ passive arm

Custom dVRK cables connected under a PSM Si