System

{{entity:Surgical Robot System}} (se-surgical-robot) — continuing decomposition session, addressing the quality gap between the first-pass note written by session 373 (“Ready for QC”) and the Substrate status still reading in-progress. With 420 requirements, 387 trace links, and 0 orphans at session start, the system was structurally complete; this session addressed 13 medium/high lint findings before marking first-pass-complete.

Decomposition

No new subsystems or components were added. This session deepened the existing decomposition by addressing ontological mismatches, missing regulatory compliance requirements, and concept-coverage gaps identified by airgen lint. Fourteen new subsystem requirements were created spanning physical embodiment, redundancy, and compliance, with six corresponding verification entries.

The Motion Control pipeline, the highest-risk subsystem by interface count, is shown below:

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

Analysis

Lint (138 total findings: 4 high, 15 medium, 119 low) identified four high-severity ontological mismatches where components without the Physical Object trait carried physical constraints in existing requirements. The {{entity:Procedure Data Recorder}} ({{hex:50851208}}), {{entity:Power Management Subsystem}}, {{entity:Real-Time Compute Node}}, and {{entity:Motion Control System}} all lacked physical embodiment requirements — the fix was to add them ({{sub:SUB-MAIN-112}}, {{sub:SUB-MAIN-114}}, {{sub:SUB-MAIN-115}}, {{sub:SUB-MAIN-116}}) rather than reclassify the entities.

Medium findings flagged three regulated components — {{entity:Motion Scaling Module}}, {{entity:Workspace Safety Enforcer}}, and {{entity:Power Management Subsystem}} — without compliance requirements. The Workspace Safety Enforcer maps closely to an autonomous mobile robot Safety and Collision Avoidance System ({{hex:51F77859}}) in the Factory corpus: both are SIL-2 rated boundary enforcement functions running inline in a real-time control loop, confirming the SIL 2 target is calibrated correctly.

A session-level duplicate was created ({{sub:SUB-MAIN-113}}) due to a mismatched idempotency key; it has been given a trace link and is tagged for QC deletion.

Requirements

Physical embodiment ({{sub:SUB-MAIN-112}}, {{sub:SUB-MAIN-114}}, {{sub:SUB-MAIN-115}}, {{sub:SUB-MAIN-116}}): physical form-factor requirements for the Procedure Data Recorder (2U LRU, RAID-1, IP32), Power Management Subsystem (sealed bay, field-replaceable LRUs), Real-Time Compute Node (VITA 57.1 FMC, conformal-coated), and Motion Control System (co-located backplane).

Regulatory compliance ({{sub:SUB-MAIN-117}}, {{sub:SUB-MAIN-118}}, {{sub:SUB-MAIN-119}}): IEC 60601-1 leakage and withstand for the PMS; IEC 80601-2-77 scaling coefficient constraints for the MSM; ISO 10218-1 / IEC 62061 SIL 2 with PFHd ≤ 1×10⁻⁷/hour for the Workspace Safety Enforcer.

Redundancy ({{sub:SUB-MAIN-120}}, {{sub:SUB-MAIN-121}}): dual-path TSN primary / CAN FD backup with 5ms failover for the {{entity:Real-Time Protocol Engine}}; hot-standby {{entity:Haptic Controller}} on independent silicon with 10ms switchover for the {{entity:Haptic Feedback Subsystem}}.

Concept coverage ({{sub:SUB-MAIN-122}}–{{sub:SUB-MAIN-126}}): vergence-accommodation conflict threshold for the {{entity:Stereoscopic Display System}}; 1:1–10:1 scaling workflow for the MSM; 6-DOF 30Hz force reflection for the Master Handle Actuator; IPA/glutaraldehyde/QAC disinfectant compatibility for the Surgeon Console; HMAC-SHA256/ECDH-P384 authentication with SAFE_HOLD escalation for the {{entity:Communication and Data Management System}}.

Six verification entries ({{sub:VER-MAIN-120}}–{{sub:VER-MAIN-125}}) were added. All new requirements carry explicit rationale; post-creation check confirms 0 session-374 requirements with empty rationale.

Final state: 441 requirements, 406 trace links, 0 orphans.

Next

QC session (Flow C) is the correct next step. Key items for QC: remove duplicate {{sub:SUB-MAIN-113}}; resolve naming inconsistencies between “Motion Control System”/“Motion Control and Scaling Subsystem”, “Vision and Imaging System”/“Vision and Imaging Subsystem”, and “Surgeon Console”/“Surgeon Input Console”; close VER coverage gaps for the 98 null-document requirements (REQ-SESURGICALROBOT-*) that are verification entries created without --document flags in earlier sessions; address the remaining 119 low-severity acronym lint findings.