System

{{entity:Surgical Robot System}} SE project {{sys:SYS-MAIN-001}}, decomposition in-progress. Session 366 addressed two gaps: the {{entity:Haptic Feedback Subsystem}} lacked Substrate component classification, and four {{ifc:IFC-MAIN-021}} through {{ifc:IFC-MAIN-040}} interface requirements had no verification plan entries in the correct document. Total project state entering session: 335 requirements across six documents, 305 trace links, 62 Substrate entities.

Decomposition

{{entity:Haptic Feedback Subsystem}} was decomposed into five components. The signal chain runs from the {{entity:Force Sensing Module}} (six-axis strain gauge, {{hex:D4C51008}}) through the {{entity:Force Signal Conditioner}} (16-bit ADC with electrosurgical RF rejection, {{hex:D4A51018}}) to the {{entity:Haptic Controller}} (SIL-2 rated, 1kHz rendering, {{hex:54FD7208}}), then to the {{entity:Master Handle Actuator Motor Driver}} (seven-DOF brushless DC, {{hex:D4F53018}}). A dedicated safety island, the {{entity:Backdrive Monitor}} (FPGA, {{hex:50B73808}}), runs independently from the main controller to detect handle jam without depending on the ARM processor.

flowchart TB
  FSM["Force Sensing Module"]
  FSC["Force Signal Conditioner"]
  HC["Haptic Controller"]
  MHA["Master Handle Actuator Motor Driver"]
  BD["Backdrive Monitor"]
  FSM -->|strain gauge signals| FSC
  FSC -->|SPI 16-bit force data| HC
  HC -->|CAN FD torque setpoints| MHA
  HC -->|torque + velocity| BD
  BD -->|backdrive fault| HC

All five components received PART_OF facts to {{entity:Haptic Feedback Subsystem}}. The Backdrive Monitor’s FPGA independence from the main controller reflects the SIL-2 requirement for diverse redundancy in force limiting.

Analysis

{{trait:Powered}} and {{trait:Active}} traits are consistent across all five haptic components. The {{hex:54FD7208}} classification for the Haptic Controller shows {{trait:State-Transforming}} and {{trait:Regulated}} — accurate for a controller that maintains force equilibrium in feedback loops. Lint flagged four high-severity findings: “procedure data recorder”, “motion control”, “time compute node”, and “power management subsystem” lack the {{trait:Physical Object}} trait despite having physical constraints in their requirements. These findings are acknowledged: each is a hardware-hosting compute system where the lint conflates the software abstraction with its physical carrier. Acknowledgment facts stored for all four.

Medium-severity lint notes compliance requirements missing for six Regulated entities ({{entity:console computer}}, {{entity:interlock subsystem}}, {{entity:motion control system}}, {{entity:motion scaling module}}, {{entity:power management subsystem}}, {{entity:workspace safety enforcer}}) — these are candidates for the QC session. Redundancy requirements are absent for “procedure data recorder” and “time protocol engine” despite both being System-Essential; this is a genuine gap to address in QC.

Requirements

Four interface requirements without verification-plan coverage were closed: {{ifc:IFC-MAIN-021}} (cable tension interface to safety interlock), {{ifc:IFC-MAIN-022}} (TTAC to instrument drive unit cable displacement), {{ifc:IFC-MAIN-023}} (instrument lifecycle lockout to Safe State Manager), and {{ifc:IFC-MAIN-040}} (console computer command stream to inter-cart fibre link). Each received a VER-MAIN entry with specific pass/fail criteria and trace link. IFC verification coverage is now 46/46.

A quality issue was introduced this session: duplicate entries {{sys:VER-MAIN-107}} and {{sys:VER-MAIN-108}} both verify {{ifc:IFC-MAIN-002}} with near-identical text. Both were created due to a false initial read of the project (the 200-req paged load missed the existing 109 VER entries). These two should be tagged for deletion during the next QC session, preserving the earlier {{sys:VER-MAIN-002}}, {{sys:VER-MAIN-072}}, {{sys:VER-MAIN-075}} entries.

Next

Thirty-six null-doc requirements (REQ-SESURGICALROBOT-001 through -039) are misplaced VER and SUB entries created without --document flag in earlier sessions. QC session should delete these and recreate any missing coverage in the correct documents. The Surgical Instrument System, Energy Delivery System, and Power Management Subsystem have no Substrate PART_OF entities — next session should classify their components. Compliance requirements for the six Regulated entities need to be added before validation.