{"id":177,"date":"2024-02-23T21:02:44","date_gmt":"2024-02-23T21:02:44","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teame\/?page_id=177"},"modified":"2024-12-14T05:30:48","modified_gmt":"2024-12-14T05:30:48","slug":"system-design","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teame\/the-system\/system-design\/","title":{"rendered":"System Design"},"content":{"rendered":"\n

System Requirements<\/h2>\n\n\n\n

Mandatory Functional\/Performance Requirements<\/h3>\n\n\n\n
\"\"<\/figure>\n\n\n\n

Mandatory Non-Functional Requirements<\/h3>\n\n\n\n

M.N.1 <\/strong>The system will be safe and easy to use for the surgeon.
M.N.2 <\/strong>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 <\/strong>The system will not be an obstruction to the surgeon.<\/p>\n\n\n\n

Desirable Functional Requirements<\/h3>\n\n\n\n
\"\"<\/figure>\n\n\n\n

Desirable Non-Functional Requirements<\/h3>\n\n\n\n

D.N.1 <\/strong>The system\u2019s extendability to other surgical procedures must uphold all relevant safety standards and protocols.
D.N.2 <\/strong>The system\u2019s design for extendability should ensure straightforward adaptation and minimal training for different surgical procedures.
D.N.3 <\/strong>The system will follow industrial standards for surgical robots.
D.N.4 <\/strong>The system will not be bulky.<\/p>\n\n\n\n

Functional Architecture<\/h2>\n\n\n\n
\"\"<\/figure>\n\n\n\n

Cyberphysical Architecture<\/h2>\n\n\n\n
\"\"<\/figure>\n\n\n\n

System Design Description<\/h2>\n\n\n\n

The entire system is divided into six major modules Here is a brief overview of each of them:<\/p>\n\n\n\n

    \n
  • 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.<\/li>\n\n\n\n
  • 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.<\/li>\n\n\n\n
  • Planning: Centered around MoveIt2, this module uses all the pre-requisite inputs (planning
    scene, drill pose, etc.) to generate a trajectory for the manipulator.<\/li>\n\n\n\n
  • Actuation\/Control: Responsible for taking the planned trajectory and interacting with the controllers
    to actuate both the robotic arm and the drill end effector.<\/li>\n\n\n\n
  • 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.<\/li>\n\n\n\n
  • 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.<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"

    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 […]<\/p>\n","protected":false},"author":363,"featured_media":0,"parent":175,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"page-templates\/page_fullwidth.php","meta":{"footnotes":""},"class_list":["post-177","page","type-page","status-publish","hentry","clearfix"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teame\/wp-json\/wp\/v2\/pages\/177","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teame\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teame\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teame\/wp-json\/wp\/v2\/users\/363"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teame\/wp-json\/wp\/v2\/comments?post=177"}],"version-history":[{"count":7,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teame\/wp-json\/wp\/v2\/pages\/177\/revisions"}],"predecessor-version":[{"id":771,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teame\/wp-json\/wp\/v2\/pages\/177\/revisions\/771"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teame\/wp-json\/wp\/v2\/pages\/175"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teame\/wp-json\/wp\/v2\/media?parent=177"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}