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The Virtual Path: The Domain Model for the Design of the MIRO Surgical Robotic System
Nickl, Mathias and Jörg, Stefan and Hirzinger, Gerd (2009) The Virtual Path: The Domain Model for the Design of the MIRO Surgical Robotic System. In: Proceedings 9th IFAC Symposium on Robot Control, pp. 97-103. IFAC. 9th IFAC Symposium on Robot Control, 9-12 Sep 2009 , Gifu, Japan.
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Official URL: http://www.syroco2009.org/
Abstract
The MIRO Platform, designed at DLR, is a highly integrated and compliant mechatronic robotic system for minimally invasive surgery. This publication presents the “Virtual Path,” a domain model in the sense of Domain Driven Design, which provides a formal guideline for all designers of the MIRO Platform to obtain a deterministic implementation without the necessity of a monolithic framework. Using Hardware-Software Co-Design methods, the roles of the basic component types of a robotic system were formally defined. The result is a set of design idioms that provide a solution for three main issues when mapping those components to a distributed heterogeneous mechatronic architecture: synchronization, scheduling, and error handling.
| Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| Title: | The Virtual Path: The Domain Model for the Design of the MIRO Surgical Robotic System | ||||||||
| Authors: |
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| Date: | September 2009 | ||||||||
| Journal or Publication Title: | Proceedings 9th IFAC Symposium on Robot Control | ||||||||
| Refereed publication: | Yes | ||||||||
| In ISI Web of Science: | No | ||||||||
| Page Range: | pp. 97-103 | ||||||||
| Publisher: | IFAC | ||||||||
| Status: | Published | ||||||||
| Keywords: | Interdisciplinary Design, Surgical Robots, Failure Detection, Synchronization | ||||||||
| Event Title: | 9th IFAC Symposium on Robot Control | ||||||||
| Event Location: | Gifu, Japan | ||||||||
| Event Type: | international Conference | ||||||||
| Event Dates: | 9-12 Sep 2009 | ||||||||
| Organizer: | International Federation of Automatic Control (IFAC) | ||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||
| HGF - Program: | Space | ||||||||
| HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | ||||||||
| DLR - Research area: | Space | ||||||||
| DLR - Program: | W SY - Technik für Raumfahrtsysteme | ||||||||
| DLR - Research theme (Project): | W - Vorhaben Medizinische Assistenzsysteme (old) | ||||||||
| Location: | Oberpfaffenhofen | ||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics > Robotic Systems | ||||||||
| Deposited By: | Stefan Jörg | ||||||||
| Deposited On: | 20 Jan 2012 11:29 | ||||||||
| Last Modified: | 20 Jan 2012 11:29 |
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