Designing life-critical software and hardware architectures meeting the rigorous demands of IEC 62304 Class C medical standards.
Motion commands require concurrent agreement between dual lockstep processor cores. Any disparity exceeding 0.05 mm commanded displacement instantly severs motor H-bridge power via hardware relays.
In an emergency power failure, spring-counterbalanced joints become instantly backdrivable, allowing the surgical team to extract instruments manually within 3 seconds without tissue entrapment.