Dual brake setup joint

A method of controlling motion of a second link relative to a first link in a system comprising a dual brake assembly coupled to the first link and to the second link, wherein the dual brake assembly includes a first brake and a second brake, the method comprising:

• causing at least one brake to be physically engaged to restrict movement of the second link relative to the first link, wherein the at least one brake is selected from the group consisting of:
• the first brake and the second brake, wherein the first brake provides a first brake holding strength when physically engaged, wherein the second brake provides a second brake holding strength when physically engaged, and wherein the second brake holding strength is different from the first brake holding strength;
• and
• in response to a clutch activation being commanded, issuing a command that causes the dual brake assembly to transition to a clutch state in which the first brake is physically disengaged and the second brake is physically disengaged, and in response to the clutch activation being dropped subsequent to the clutch activation being commanded, causing the dual brake assembly to transition from the clutch state to a first state in which the first brake and the second brake are physically disengaged.

A computer-aided medical system comprising:

• a patient side support system comprising:
• a first link having a first end portion and a second end portion;
• a second link having a first end portion and a second end portion;
• a joint assembly connected to the second end portion of the first link and to the first end portion of the second link, the joint assembly comprising:
• an actuator configured to cause the joint assembly to move the second link relative to the first link;
• and
• a dual brake assembly coupled to the first link, to the second link, and to the actuator, wherein the dual brake assembly includes a first brake and a second brake, wherein the first brake provides a first brake holding strength when physically engaged, wherein the second brake provides a second brake holding strength when physically engaged, and wherein the second brake holding strength is different from the first brake holding strength;
• and
• a controller coupled to the actuator and to the dual brake assembly, wherein the controller is configured to command the dual brake assembly, wherein:
• in response to a clutch activation being commanded, the controller issues a command that causes the dual brake assembly to transition to a clutch state in which the first brake is physically disengaged and the second brake is physically disengaged, and in response to the clutch activation being dropped subsequent to the clutch activation being commanded, the controller causes the dual brake assembly to transition from the clutch state to a first state in which the first brake and the second brake are physically disengaged.