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 robot.
D.N.4 The system will not be bulky.
Functional Architecture
Cyberphysical Architecture
System Design Description
The entire system is divided into 6 major modules Here is a brief overview of each of them –
■ Hardware: This module mainly contains the physical components of our system. This includes the
robotic manipulator, drill end effector, two RGBD cameras, and the bone setup which we will interact
with.
■ 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). It will be provided to us by our sponsor.