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.
Item URL in elib: | https://elib.dlr.de/74306/ | ||||||||||||
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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 | ||||||||||||
Open Access: | Yes | ||||||||||||
Gold Open Access: | No | ||||||||||||
In SCOPUS: | No | ||||||||||||
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 (until 2012) > Robotic Systems | ||||||||||||
Deposited By: | Jörg, Stefan | ||||||||||||
Deposited On: | 20 Jan 2012 11:29 | ||||||||||||
Last Modified: | 31 Jul 2019 19:35 |
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