System Design

System Requirements

Mandatory Functional/Performance Requirements

Mandatory Non-Functional Requirements

M.N.1 The system will be safe and easy to use for the surgeon.
M.N.2 The system will have a procedure time not more than 5-10 mins compared to standard commercial surgery (currently 30-40 mins).
M.N.3 The system will not be an obstruction to the surgeon.

Desirable Functional Requirements

Desirable Non-Functional Requirements

D.N.1 The system’s extendability to other surgical procedures must uphold all relevant safety standards and protocols.
D.N.2 The system’s design for extendability should ensure straightforward adaptation and minimal training for different surgical procedures.
D.N.3 The system will follow industrial standards for surgical robots.
D.N.4 The system will not be bulky.

Functional Architecture

Cyberphysical Architecture

System Design Description

The entire system is divided into six major modules Here is a brief overview of each of them:

  • Hardware: This module contains the physical components of our system. This includes the robotic manipulator, drill end effector, one RGBD camera, and the bone setup with which we will interact.
  • Perception: Includes all the packages/modules that will directly interact with the cameras or the
    point cloud data obtained from them. Encompasses processing, registration, tracking, etc.
  • Planning: Centered around MoveIt2, this module uses all the pre-requisite inputs (planning
    scene, drill pose, etc.) to generate a trajectory for the manipulator.
  • Actuation/Control: Responsible for taking the planned trajectory and interacting with the controllers
    to actuate both the robotic arm and the drill end effector.
  • Surgeon I/O: This mainly refers to the interface provided to the operator/surgeon. Includes all
    commands that can be given to the system during its operation and UI elements that help visualize the current state of the robot/procedure.
  • Input: Refers to inputs that are pre-computed / obtained before the system starts operation (such as
    the surgical plan). Our sponsor will provide it to us.