Joint Encoder and Brake Replacement Solutions

Overview

Development of novel replacement solutions for defective joint encoders and brakes on dVRK robotic arms, addressing common hardware failures in aging da Vinci systems.

Technical Details

• Diagnosed common encoder failure modes
• Developed replacement encoder solutions compatible with dVRK controllers
• Designed brake replacement procedures

PSM Joint Encoder Repair

The replacement solution has been verified to work on the second joint of the dVRK PSM.

Note: Our selection is just a workable solution, but not the only one. Also, you will need to manufacture a coupling component (we used aluminum) to better fit your rotation shaft leveraging your machine shop skills. For the encoder we have fixed, the inner diameter is 3mm.

We used E2 encoder from US Digital with following configurations:

• CPR: 4000
• Bore Size: 10 mm
• INDEX: index(IE)
• Cover: Through-Hole (H)
• Base: Default (D)

More details will be added later. Stay tuned!

ECM Brake Replacement

Replace the brake for the second joint of the dVRK ECM.

More details will be added later. Stay tuned!