2.2.2.1. Introduction
Each da Vinci arm (MTM, PSM, ECM) is controlled by a single box. A different controller is used for the Setup joints (see SUJ Classic controller). There are three major versions of controllers for the da Vinci Classic, based on the FPGA version used (V1, V2 or V3).
The V1 and V2 controllers are built around 2 QLA/FPGA stacks. Both boards (QLA and FPGA logic board) were designed by JHU. Since a QLA (Quad Linear Amplifier) can only drive up to 4 axes, we need two of them per controller.
The controllers are designed to interface with the da Vinci Classic (first generation) active arms, both on the patient and surgeon’s side. The physical interface between the QLA/FPGA boards is a dMIB (da Vinci Manipulator Interface Board). The controllers provide inputs for the potentiometers and encoders as well as miscellaneous digital IOs (foot pedals, buttons…). For motor control they use linear amplifiers with current feedback. All controllers come with FireWire interfaces, so they can be daisy-chained and communicate with a computer.
The V2 controllers also come with an Ethernet adapter (supported by Firmware Rev 7+ and Software V2+). The V3 controllers are still based on 2 QLAs but use a single FPGA board (V3) to reduce the cost and complexity of wiring inside the controller. See also controller versions.