System

{{entity:Surgical Robot System}} — first-pass decomposition. The project entered this session with status in-progress but with requirement counts (350 requirements) and structural coverage (80 PART_OF facts, 9 diagrams) that closely matched the first-pass completion target established in session 367. This session’s work: lint review, orphan resolution, Power Management compliance gap closure, and formal first-pass completion with baseline {{hex:DECOMP-2026-03-20}}.

Decomposition

All eight primary subsystems have internal block diagrams and component-level PART_OF assignments. The Motion Control and Scaling Subsystem shows the tightest pipeline integration:

flowchart TB
  n0["Tremor Rejection Filter"]
  n1["Motion Scaling Module"]
  n2["Kinematics Engine"]
  n3["Workspace Safety Enforcer"]
  n4["Joint Servo Controller"]
  n5["Real-Time Compute Node"]
  n6(["Surgeon Console"])
  n7["Patient-Side Cart"]
  n8["Trajectory Generator"]
  n6 -->|6-DOF vel cmds 1kHz| n0
  n0 -->|filtered vel 1kHz| n1
  n2 -->|joint setpoints| n3
  n3 -->|validated cmds| n4
  n4 -->|CAN-FD 5Mbps| n7
  n3 -->|fault signal| n5
  n5 -->|heartbeat 200Hz| n0
  n1 -->|scaled velocity 1kHz| n8
  n8 -->|Cartesian poses 1kHz| n2

classDef subsystem fill:#f0f5ff,stroke:#2c5282,color:#2c5282

The 1kHz pipeline — {{entity:Tremor Rejection Filter}} → {{entity:Motion Scaling Module}} → {{entity:Trajectory Generator}} → {{entity:Kinematics Engine}} → {{entity:Workspace Safety Enforcer}} → {{entity:Joint Servo Controller}} — forms a deterministic chain with no feedback loop within the compute cycle, keeping latency bounded. The {{entity:Real-Time Compute Node}} ({{hex:D6B51018}}) issues a 200Hz watchdog heartbeat to the filter; loss of heartbeat triggers safe hold before any joint command reaches the patient-side cart.

Analysis

Lint produced 116 findings (4 high, 19 medium, 93 low). The four HIGH findings (physical constraint on {{entity:procedure data recorder}}, {{entity:power management subsystem}}, {{entity:motion control}}, {{entity:time compute node}} without {{trait:Physical Object}} trait) were previously acknowledged — these are tokenisation artefacts where abbreviated concept names extracted from requirement text lack the {{trait:Physical Object}} trait that the full entity names correctly carry.

Two new medium findings were resolved this session. {{entity:Power Management Subsystem}} ({{hex:54F53018}}) was flagged as {{trait:Regulated}} with no compliance requirements — this was a genuine gap. {{sub:SUB-MAIN-102}} was written to require IEC 60601-1:2005+AMD1:2012 and IEC 60601-1-2:2014 compliance with F-Type isolation on all patient-coupled outputs (500 VAC withstand). The redundancy finding for {{entity:power management subsystem}} and the system-level {{entity:surgical robot system}} entity were acknowledged: the UPS Battery Module and dual-feed PDU architecture constitute the redundant power path; system-level redundancy requirements are already in {{sys:SYS-MAIN-002}} and {{sys:SYS-MAIN-005}}.

One inter-system-requirement inconsistency surfaced from lint coverage-gap analysis: {{sys:SYS-MAIN-001}} includes 1:1 scaling (“from 1:1 to 10:1”) while {{sys:SYS-MAIN-008}} enumerates only 3:1, 5:1, and 10:1. {{sub:SUB-MAIN-040}} follows SYS-MAIN-008. The 1:1 ratio in SYS-MAIN-001 has no subsystem implementation — whether 1:1 is a real operating mode or an artifact of imprecise system requirement drafting is a QC decision.

Requirements

The orphan {{sub:REQ-SESURGICALROBOT-047}} (Console Computer MDR/FDA qualification) was linked to {{sys:SYS-MAIN-007}} via a derives trace. The Console Computer is the primary execution hardware for surgeon-to-cart motion command transmission, making regulatory qualification a direct derivation from that system function requirement.

At first-pass completion: 350 requirements across six documents (15 STK, 18 SYS, 102 SUB, 46 IFC, 19 ARC, 113 VER, plus 49 early VER entries in the default namespace), 317 trace links, 0 orphans. VER coverage reaches 245% of IFC — intentionally high because the early verification entries were written with detailed bench procedures against specific SUB and SYS requirements rather than IFC requirements alone.

Next

QC pass (Flow C): resolve the SYS-MAIN-001 vs SYS-MAIN-008 scaling range inconsistency; rationalise duplicate subsystem names (Vision and Imaging Subsystem/System, Safety and Interlock/Watchdog, Surgeon Console/Input Console introduced across sessions); migrate the 49 null-document REQ-SESURGICALROBOT-* entries to VER-MAIN document with correct section assignments; verify trace completeness for {{sub:SUB-MAIN-102}} and the recently added session-368 requirement.