System

Surgical Robot System, session 356. The {{entity:Surgeon Input Console}} was the decomposition target set by the previous session. Five components had been classified in session 353 — {{entity:Surgeon Interface Panel}}, {{entity:Console Computer}}, {{entity:Foot Pedal Array}}, {{entity:Voice Command Module}}, {{entity:Arm Positioning System}} — with 7 subsystem and 4 interface requirements written but no verification entries for IFC-MAIN-037 or for any of the SUB requirements. The {{entity:Surgeon Interface Panel}} itself had no requirements at all despite being the primary haptic input device. This session closes those gaps and reconstructs the PART_OF graph for all remaining subsystems.

Decomposition

The {{entity:Surgeon Interface Panel}} ({{hex:D4AC5018}}) received three new requirements: 7-DOF master arm pose transmission at 1kHz with 0.1mm position resolution ({{sub:SUB-MAIN-066}}), haptic force rendering within 1ms at the fingertips with 15 percent accuracy across the 0–5N range ({{sub:SUB-MAIN-067}}), and surgeon hand disengagement detection within 50ms with inhibit propagation to the instrument side ({{sub:SUB-MAIN-068}}). The bidirectional haptic bus between the Surgeon Interface Panel and the {{entity:Console Computer}} ({{hex:D0F51018}}) is now formalised as {{ifc:IFC-MAIN-039}} over a dedicated EtherCAT link at 1kHz in both directions with 1ms one-way latency budget. Two Console Computer requirements address lint findings: IEC 62304 Class C development conformance ({{sub:SUB-MAIN-069}}) and safe-state entry within 500ms of a software exception with 30-second battery-backed data retention ({{sub:SUB-MAIN-070}}).

flowchart TB
  n0["Surgeon Interface Panel"]
  n1["Console Computer"]
  n2["Foot Pedal Array"]
  n3["Voice Command Module"]
  n4["Arm Positioning System"]
  n0 -->|EtherCAT haptic bus bidirectional, 1kHz| n1
  n2 -->|CAN pedal events <50ms| n1
  n3 -->|USB voice commands <200ms| n1
  n4 -->|Arm position status| n1

PART_OF facts were added for all previously unlinked components: six {{entity:Motion Control System}} components including {{entity:Kinematics Engine}}, {{entity:Motion Scaling Module}}, {{entity:Tremor Rejection Filter}}, and {{entity:Real-Time Compute Node}}; four {{entity:Safety and Interlock Subsystem}} components including {{entity:Safe State Manager}} and {{entity:Emergency Stop Chain}}; four {{entity:Haptic Feedback Subsystem}} components; six {{entity:Vision and Imaging Subsystem}} components including {{entity:Stereo Endoscope}} and {{entity:Image Processing Pipeline}}; and assorted instrument and communication components. Total PART_OF facts rose from 20 to 71.

Analysis

Lint at 229 requirements flagged one high finding: {{entity:Energy Delivery Controller}} ({{hex:41B53B18}}) classified without the Physical Object trait despite environmental constraints in {{ifc:IFC-MAIN-031}}. This is ontologically correct — the controller is embedded firmware within the Electrosurgical Generator chassis, not a standalone LRU; the constraint in IFC-MAIN-031 refers to the generator rack. Acknowledged.

The {{entity:Console Computer}} carried two medium findings: regulated without compliance requirements and system-essential without redundancy. Both addressed this session. The {{trait:Regulated}} classification for the console drove the IEC 62304 Class C requirement; the {{trait:System-Essential}} classification drove the 500ms safe-state failsafe. Remaining medium findings (cybersecurity gaps on {{entity:Kinematics Engine}} and {{entity:Trajectory Generator}}, compliance gaps on {{entity:Interlock Subsystem}} and {{entity:Motion Control System}}) are pre-existing and appropriate for the QC session.

Cross-domain search for the haptic master arm form factor returned the {{entity:Surgeon Console}} ({{hex:D6ED5018}}) and {{entity:Master Handle Actuator}} ({{hex:D7F51008}}) as the nearest semantic matches — both within the same corpus sub-domain with no meaningful cross-domain analog found this session.

Requirements

Seven verification entries from session 353 had no VER coverage: IFC-MAIN-037 (Console Computer to Real-Time Protocol Engine session management), SUB-MAIN-055 to SUB-MAIN-061 inclusive. All seven now have corresponding entries ({{ifc:VER-MAIN-049}} through VER-MAIN-054, plus VER-MAIN-056 for the new pose rate requirement). New requirements from this session each have a VER entry: {{ifc:VER-MAIN-055}} for the EtherCAT interface (30-minute soak test at 99.9th percentile latency), {{ifc:VER-MAIN-057}} for haptic force rendering (step response characterisation with 10kHz force plate), {{ifc:VER-MAIN-058}} for handle disengagement (100-event mechanical jig test with instrument-side motion cessation check), and {{ifc:VER-MAIN-059}} and {{ifc:VER-MAIN-060}} for compliance audit and failsafe injection respectively. Total verification entries reached 60, covering all 39 interface requirements and the full session-356 subsystem requirement set.

Trace links added: {{sub:SUB-MAIN-066}} and {{ifc:IFC-MAIN-039}} trace to {{sys:SYS-MAIN-001}} (end-to-end motion scaling <1ms); {{sub:SUB-MAIN-067}} traces to {{sys:SYS-MAIN-004}} (force sensing with haptic feedback); {{sub:SUB-MAIN-068}}, {{sub:SUB-MAIN-069}}, and {{sub:SUB-MAIN-070}} trace to {{sys:SYS-MAIN-002}} (single-point failure detection and safe state). Baseline {{ifc:BL-SESURGICALROBOT-013}} labelled SIC-COMPLETE captures the full post-session state.

Next

Motion Control and Scaling Subsystem is the highest-priority remaining target: six components are now in the PART_OF graph but only one ({{entity:Trajectory Generator}}, {{hex:41F53B08}}) has more than one subsystem requirement written, and the safety-critical tremor rejection and workspace safety enforcement components have no performance-quantified requirements. The next session should complete Motion Control component-level requirements, focusing on {{entity:Tremor Rejection Filter}} (6Hz cutoff driving SYS-MAIN-009) and {{entity:Workspace Safety Enforcer}} as the highest-risk components.