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While a robot control framework generally focuses on real-time performance and efficient data exchange between cooperating tasks or processes, an application such as robot-assisted surgery often demands information from, and integration with, a number of other devices. Thus, the software framework for the integrated system may have different requirements(More)
A variety of medical and surgical robot systems have been developed in academia and industry and commercial products are actively used in modern operating rooms. However, there is no safety standard that specifically governs the design of medical robot systems. Despite the availability of several safety design guidelines, the absence of a basis or(More)
The Surgical Assistant Workstation (SAW) modular software framework provides integrated support for robotic devices, imaging sensors, and a visualization pipeline for rapid prototyping of telesurgical research systems. Subsystems of a telesurgical system, such as the master and slave robots and the visu-alization engine, form a distributed environment that(More)
In the software engineering domain, much work has been done for fault detection and diagnosis (FDD) and many methods and technologies have been developed, especially for safety-critical systems. In the meantime, component-based software engineering has emerged and been widely adopted as an effective way to deal with various issues of modern systems such as(More)
Medical and surgical robot systems are examples of safety-critical systems due to the potential hazards that can lead to severe injury or the loss of human life. Furthermore, robot safety is becoming increasingly important in other domains as robots begin to share their workspace with humans. At the same time, the complexity of robot hardware and software(More)
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