# WIA-MED-006 PHASE 1: System Architecture Specification

## Overview
This specification defines the fundamental architecture for surgical robotic systems compliant with WIA-MED-006 standard.

## 1. System Components

### 1.1 Surgeon Console
- **3D Vision System**: 1920x1080 per eye minimum, 60 Hz, stereo separation
- **Master Manipulators**: 7-DOF, 0.1mm position resolution, force feedback capable
- **Foot Pedals**: Minimum 4 pedals for camera, clutch, and energy activation
- **Ergonomic Seating**: Adjustable height, arm rests, head support

### 1.2 Patient-Side Cart
- **Robotic Arms**: 3-4 arms minimum, 7-DOF each
- **RCM Mechanism**: Remote Center of Motion with ±0.5mm deviation tolerance
- **Tool Mounting**: Standard interface for interchangeable instruments
- **Positioning**: Laser targeting or manual positioning with locking mechanism

### 1.3 Vision Cart
- **Image Processing**: Real-time processing, <20ms latency
- **Light Source**: LED 300W equivalent, adjustable intensity
- **Recording**: Optional 1080p60 recording capability

## 2. Communication Architecture

### 2.1 Control Bus
- **Protocol**: CAN bus or equivalent, 1 Mbps minimum
- **Update Rate**: 1000 Hz for position commands
- **Latency**: <1ms end-to-end
- **Redundancy**: Dual independent channels

### 2.2 Vision Data
- **Bandwidth**: 3 Gbps minimum for 3D HD video
- **Compression**: H.265 or better
- **Latency**: <5ms encoding/decoding

## 3. Safety Architecture

### 3.1 Hardware Safety
- Independent safety PLC
- Dual watchdog timers
- Emergency stop circuit (<50ms response)
- Mechanical limit stoppers

### 3.2 Software Safety
- IEC 62304 Class C compliance
- Fail-safe default behaviors
- Continuous self-diagnostics
- Event logging (7-year retention)

## 4. Interoperability

### 4.1 Standard Interfaces
- **Console-Cart**: WIA-MED-006-CTRL protocol (JSON/MessagePack)
- **Vision**: WIA-MED-006-VIS protocol (H.265/AV1)
- **Tools**: WIA-MED-006-TOOL protocol (sensor data, calibration)

### 4.2 Compatibility
- Components from different manufacturers must be interoperable
- Standard connector types and pinouts
- Plug-and-play capability with auto-detection

## 5. Performance Requirements

- **Position Accuracy**: ±0.1mm
- **Repeatability**: ±0.02mm
- **Control Loop**: ≥1000 Hz
- **System Latency**: ≤10ms
- **Uptime**: >98%

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**Status**: ✅ Complete  
**Version**: 1.0.0  
**Date**: 2025-01-01

© 2025 WIA · MIT License