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2.2.2.4. Components

Custom boards (PCBs)

• Component versions by build/date.

• The FPGA and QLA designs are open source and available on GitHub: https://jhu-cisst.github.io/mechatronics.

• For the DQLA based controller, the DQLA-Q and DQLA-F designs are open source and available on GitHub: https://github.com/jhu-dvrk/dvrk-DQLA

• The dMIB is provided by Intuitive Surgical. The design, including schematics and BOM, are available on GitHub: https://github.com/jhu-dvrk/dvrk-pcb-dMIB

Power supplies

• All boxes contain a 12V (50W) logic power supply that provides power to the FPGA boards and the safety chain.

• Each box also contains one or more motor power supplies that are connected to the QLAs:

  • MTM: one 24V (75W) power supply connected to QLA #1 and one 12V (50W) power supply connected to QLA #2

  • PSM: one 24V (225W) power supply connected to both QLAs

  • ECM: one 36V (225W) power supply connected to both QLAs

• Replacement power supplies:

  • 12V logic power supply (For All) & 12V Motor Power Supply (For MTM): https://www.digikey.com/en/products/detail/mean-well-usa-inc/LRS-50-12/7705044 (obsolete: https://www.digikey.com/product-detail/en/cui-inc/VGS-50-12/102-1935-ND/2045666)

  • 24V motor power supply (For MTM): https://www.digikey.com/product-detail/en/cui-inc/VGS-75-24/102-1943-ND/2045674

  • 24V motor power supply (For PSM): https://store.astrodynetdi.com/225w-u-channel-power-supply-24vpmk225s-24u.html

  • 36V motor power supply (For ECM): https://store.astrodynetdi.com/225w-u-channel-power-supply-36vpmk225s-36u.html

Hardware modifications

• dMIB:

  • ECM switch for SUJ

  • PSM Dallas chip for tool detection

• QLAs:

  • Heat sink and fan