The goal of the Modular Robot Controller II (MRC-II) project is to define a new architecture for Computer-Integrated Surgery. This architecture will replace the MRC software that is currently being used at the ERC-CISST.
UML Class Diagram of MRC Software
MRC-II Development Procedure(html) (pdf)
MRC-II Customer Requirements(html) (pdf)
MRC-II Software Requirements Specification(html) (pdf)
MRC-II High Level Architecture Diagrams
MRC-II State Data Design(html) (pdf)
MRC-II Design Extensibility(html) (in process)
MEI (Motion Engineering Inc.) motion controllers
· PCX/DSP currently being used
· XMP Series (newer version)
ATI force sensor
Measurement Computing (formerly Computer Boards) I/O boards
LARS shared memory interface
Bright Star Engineering IP-Engine + (minimal) custom hardware
Adept SmartController System (Firewire)
Agile Systems compact motion controllers (RS232/422/485, CAN, Firewire)
Ormec ServoWire (Firewire)
PMDI motion controllers (Canada)
dSpace motion controller (Germany)
The current MRC Software supports Microsoft Windows and Linux. The MRC-II Software will continue to support these options, though a Real Time Operating System (RTOS) would be preferable for the real-time components. RT-Linux and LynxOS are being considered. There are also Real Time Extensions for Windows NT provided by three companies:
· RTX by Venturcom
· INTime by TenAsys (formerly by RadiSys)
· Hyperkernel by Nematron (formerly by Imagination Systems)
· OROCOS (Open RObot COntrol Software, Belgium)
· EMC (Enhanced Machine Controller, NIST, now in SourceForge) – see also LinuxCNC.org.
· MCA (Modular Controller Architecture, Germany, in SourceForge)
· Microb (Module Intégrés de Contrôle de ROBots, Canada)