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surgical-robot

teleoperated surgical robot

da Vinci

SystemTechniques · 17Primitives · 56 surgical-robot Fault detection isolation recoveryembedded · medium: Monitor/response tables, fault isolation and safe-mode recovery hierarchies for autonomous systemsSafety-critical coding standardsembedded · medium: Which rule sets (MISRA C, CERT C, JPL Power of Ten, Rust lint subsets) apply when software must not fail, what they forbid, and how to enforce them in CI.›Safety monitor architectureembedded · medium: Independent doer/checker safety monitor that forces a safe state when the main channel misbehavesStereo multiview renderinggraphics · medium: Render both eyes in one pass with multiview or instanced stereoImage segmentationmachine-learning · medium: Pixel/instance segmentation networks and promptable segmentation (Mask R-CNN, SAM-style)Low latency video encodingmedia · medium: Video encoding tuned for latency: no B-frames, intra refresh, slice output, low-delay rate controlCamera calibrationrobotics · medium: Intrinsic/extrinsic calibration (Zhang's method, distortion models, bundle adjustment)Redundancy votingembedded · low: N-modular redundancy and MooN voting (2oo3, TMR) with discrepancy detectionWatchdog timerembedded · low: A hardware down-counter that resets the chip unless software proves, in time and in a plausible pattern, that it is still healthy.›Fixed-rate control loopembedded · low: Run a controller at an exact period using absolute deadlines and a fixed dt, so jitter never accumulates and the math stays valid.›PID controllerrobotics · low: Drive a measured value to a setpoint with three terms on the error: proportional, integral, derivative. The default feedback loop for motors, heaters, drones and gimbals.›IIR and FIR filterssignal-processing · low: Two ways to shape a sampled signal's spectrum: FIR (finite taps, always stable, exact linear phase) or IIR (feedback, a few coefficients, cheap but phase-distorting).›Real time fieldbusembedded · low: Deterministic cyclic fieldbuses (EtherCAT, PROFINET IRT): on-the-fly frames, distributed clocksReal time linux schedulingembedded · low: PREEMPT_RT, SCHED_FIFO/DEADLINE, CPU isolation and mlockall for low-jitter loopsKalman filterrobotics · low: Optimal recursive estimator for a linear system with Gaussian noise: fuses a motion model with noisy measurements into a state estimate plus its covariance.›Hierarchical state machinesystems · low: Nest states so a substate inherits its parent's reactions and only overrides what differs, with ordered entry and exit actions along the path.›Code coverage instrumentationcompilers · low: Insert counters into compiled code to record which blocks, edges or lines ran; a spanning tree of the control-flow graph cuts the counters needed.›End to end protection e2eembedded · low: Per-message counter, ID and CRC over a black channel to detect loss, repetition, corruption, delayMemory protection unitembedded · low: A handful of base/size regions with permissions, checked on every access by the CPU, give microcontroller tasks isolation and stack-overflow traps without an MMU.›Homogeneous transformsgeometry · low: 4x4 affine and projective matrices, homogeneous coordinates, view and projection, normal matricesGPU command buffersgraphics · low: Record GPU work as a flat list of commands on the CPU, submit it in batches, and reuse its memory through a ring of frames in flight guarded by fences.›Loss functionsmachine-learning · low: The scalar a model minimizes: cross-entropy for classes and tokens, MSE or Huber for values, each with a stable form and simple gradient.›Non-maximum suppressionmachine-learning · low: Keep the best-scoring candidate in each neighbourhood and drop the rest; greedy NMS, Soft-NMS and 1-D peak picking share one loop.›+ 10 more techniques+ 40 more primitives

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In-house systems

Named systems of this kind at large companies, with their paper or write-up.

MakoStrykerda VinciIntuitive Surgical