Proof-Gated Actuation Active • 1000 Hz Satisfiability Checking

OP-Roboter

Proof-gated actuation kernel for minimally invasive surgical teleoperation written in Rust. Blocks every robotic joint movement before execution unless the planned trajectory is mathematically proven incapable of violating patient anatomical safety fixtures or trocar port pivot constraints.

TERMINAL • CLONE & RUN 47-TEST VERIFICATION SCAFFOLD BASH / POWERSHELL

git clone https://github.com/KELLERBABG/OP-Roboter.git && cd OP-Roboter && cargo test --workspace

KINEMATIC SUPERVISOR TELEMETRY • 1000 HZ CONTROL CYCLE ALL SAFETY INVARIANTS UNSAT [HAZARDS EXCLUDED]

REMOTE CENTER OF MOTION (RCM)

0.18 MM

ABSOLUTE MAX DISPLACEMENT: 1.50 MM

END-EFFECTOR VELOCITY

12.4 MM/S

V_MAX = 50.0 MM/S • SAFE

ORGAN BOUNDARY CLEARANCE

8.4 MM

NO-GO MARGIN: 3.0 MM

PROOF GATE LATENCY

420 μs

Z3 SMT SOLVER • 47/47 PASS

Interactive Surgical Safety Interlock Testbench

Inject surgeon master commands into the 7-DOF kinematic model. See how OP-Roboter verifies joint limits, preserves the abdominal wall trocar pivot, and halts dangerous organ penetrations.

PATIENT ABDOMINAL WALL TROCAR ENTRY

RCM PIVOT CONSTRAINED (Zero Lateral Shear)

Virtual Fixture: Hepatic Artery Volumetric No-Go Box

[CYCLE 001] [OP-GATE] Real-time execution gate initialized. 7-DOF Jacobian loaded.

[CYCLE 001] [GATE-PASS] Trajectory admitted. RCM error < 0.2mm. Command released to motor servos.

High-Assurance Crate Architecture

Engineered with strict zero-allocation constraints on the control loop. Each crate addresses a separate formal verification layer.

CRATE 01

op-kinematics

Analytical and numerical forward/inverse kinematics, Denavit-Hartenberg (DH) parameters, and geometric Jacobian computation.

kinematics::forward_kinematics(&joints)

CRATE 02

op-constraints

Compiles physical actuator velocity limits, volumetric organ boundaries, and Remote Center of Motion constraints into boolean formulas.

constraints::generate_rcm_formula(&pose)

CRATE 03

op-verifier

Integrates Z3 SMT solver over QF_NRA (Quantifier-Free Nonlinear Real Arithmetic) to verify that hazard formulas are unsatisfiable.

verifier::prove_unsat(&hazard_formula)

CRATE 04

op-gate

The non-bypassable trustless execution gate. Intercepts commands between surgeon master console and physical manipulator arm.

gate::execute_or_block(cmd, &verifier)

CRATE 05

op-trajectory

Real-time cubic spline and quintic polynomial trajectory generators guaranteeing continuous acceleration and bounded jerk.

trajectory::plan_safe_profile(&waypoints)

CRATE 06

op-taint

Taint tracking across optical encoders and haptic sensors to isolate noisy or damaged joint telemetry before it enters the solver.

taint::audit_encoder_channels(&sensors)