A proof-gated actuation kernel for minimally invasive surgical teleoperation. No joint moves unless its trajectory has been proved incapable of violating a patient anatomical fixture or the trocar pivot.
A teleoperated instrument passes through a single small incision. That entry point is a remote centre of motion: the shaft may pivot there but must not translate sideways through the abdominal wall, or the port tears. The tip must stay out of named structures. And it must not move faster than the tissue can tolerate.
Those are three different constraints, and OP-Roboter checks all three in the same proof. The surgeon's commanded motion becomes a trajectory; the trajectory becomes a satisfiability query against the fixtures; and the joint command is released only if the query is unsatisfiable — meaning no reachable state violates any of them.
[CYCLE 001] [OP-GATE] Real-time execution gate initialised. 7-DOF Jacobian loaded. [CYCLE 001] [GATE-PASS] Trajectory admitted. RCM error < 0.2 mm. Command released to servos. [CYCLE 002] [GATE-REJECT] Trocar lateral shear predicted 2.1 mm > 1.5 mm limit. Clamped. [CYCLE 003] [GATE-REJECT] Tip path enters hepatic artery no-go volume. Halted.
The control loop is zero-allocation, so nothing in the gate can pause for memory while a tool is inside a patient. Each crate owns one layer of the proof.
Analytical and numerical forward and inverse kinematics, Denavit-Hartenberg parameters, geometric Jacobian.
Compiles physical actuator velocity limits, joint ranges and the trocar pivot into solver constraints.
Evaluates the trajectory query per control cycle and either releases or clamps the command.
Volumetric no-go regions registered against the patient model and checked as first-class geometry.
git clone https://github.com/KELLERBABG/OP-Roboter.git cd OP-Roboter && cargo test --workspace # 47-test verification scaffold
Scope. A research kernel and testbed with a kinematic model, not a certified surgical device. Nothing here has been through regulatory clearance.