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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:
AuthorsInstitution or Email of Authors
Nickl, Mathiasmathias.nickl@dlr.de
Jörg, Stefanstefan.joerg@dlr.de
Hirzinger, Gerdgerd.hirzinger@dlr.de
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 (old)
HGF - Program:Space (old)
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:12 Dec 2013 21:34

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