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"/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Objective </w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:r><w:t>This document defines the requirements for the Surgical Assistant Workstation for Teleoperated</w:t></w:r><w:r wsp:rsidR="00AE56EF"><w:t> </w:t></w:r><w:r><w:t>Surgical Robots (SAWTSR) being developed by Johns Hopkins University and Intuitive Surgical. This document provides requirements for the workstation system and does not include application requirements. It is expected that applications developed on this workstation would define their own requirements (i.e., in a separate document). </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="00AE56EF" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00EB2959"><w:pPr><w:pStyle w:val="Heading1"/><w:listPr><wx:t wx:val="2. "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>References </w:t></w:r></w:p><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00EB2959"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="2.1 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Project-Specific </w:t></w:r></w:p><w:p wsp:rsidR="00AE56EF" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="2"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>“Development of a Surgical Assistant Workstation for Teleoperated Surgical Robots,” proposal for NSF ERC Supplement, July 2006. </w:t></w:r></w:p><w:p wsp:rsidR="00AE56EF" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="2"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>“Intuitive Surgical daVinci API v5.0 Reference Manual”, generated July 14, 2006. </w:t></w:r></w:p><w:p wsp:rsidR="00AE56EF" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="2"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>J. Leven, D. Burschka, R. Kumar, G. Zhang, S. J. Blumenkranz, X. Dai, M. Awad, G. Hager, M. Marohn, M. Choti, C. Hasser and R. H. Taylor “DaVinci Canvas: A Telerobotic Surgical System with Integrated, Robot-Assisted, Laparoscopic Ultrasound Capability,” in MICCAI, vol. LNCS 3749, J. Duncan and G. Gerig, Eds. Palm Springs, CA: Springer-Verlag, 2005, pp. 811-818. </w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="2"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>J. Leven, “A Telerobotic Surgical Systems with Integrated Robot-Assisted Laparoscopic Ultrasound Capability”, MS Thesis, Computer Science, Johns Hopkins University, Baltimore, 2005. </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00EB2959"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="2.2 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Calibration and Registration Techniques </w:t></w:r></w:p><w:p wsp:rsidR="00AE56EF" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="3"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>B.K.P. Horn, “Closed-form</w:t></w:r><w:r><w:tab wx:wTab="345" wx:tlc="none" wx:cTlc="5"/><w:t> solution of absolute orientation using unit quaternions,” J. Opt. Soc. Amer. A, Vol. 4, No. 4, pp. 629–642, Apr. 1987. </w:t></w:r></w:p><w:p wsp:rsidR="00AE56EF" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="3"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>K.S. Arun, T.S. Huang, S.D. Blostein, “Least-Squares Fitting of Two 3D Point Sets”, IEEE PAMI, Vol. 9, No. 4, pp. 698-700, Sept. 1987. </w:t></w:r></w:p><w:p wsp:rsidR="00AE56EF" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="3"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>S.</w:t></w:r><w:r wsp:rsidR="00AE56EF"><w:t> </w:t></w:r><w:r><w:t>Umeyama, “Least-Squares Estimation of</w:t></w:r><w:r wsp:rsidR="00AE56EF"><w:t> Transformation Parameters </w:t></w:r><w:r><w:t>Between Two Point Patterns”, IEEE PAMI, Vol. 13,</w:t></w:r><w:r wsp:rsidR="00AE56EF"><w:t> No. 4, pp. 376-380, Apr. 1991.</w:t></w:r></w:p><w:p wsp:rsidR="00AE56EF" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="3"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>Boctor, A. Viswanathan, M. Choti, R. Taylor, G. Fichtinger, G. Hager, “A Novel Closed Form Solution for Ultrasound Calibration,” IEEE Intl. Symp. Bio. Imag. (ISBI), Arling</w:t></w:r><w:r wsp:rsidR="00AE56EF"><w:t>ton, VA, pp 527-530, Apr. 2004.</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="3"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>P. J. Besl and N. D. McKay, "A Method for Registration of 3-D Shapes," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 14, pp. 239256, Feb. 1992. </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00EB2959"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="2.3 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Virtual Fixtures and Constrained Optimization </w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="4"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>Kapoor, M. Li, R.H. Taylor, “Constrained Control for Surgical Assistant Robots”, Proc. IEEE Intl. Conf. on Robotics and Automation, Orlando, FL, May 2006, pp 231-236. </w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="4"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>M. Li, A. Kapoor and R. H. Taylor “A Constrained Optimization Approach to Virtual Fixtures,” in IROS. Edmonton, Alberta, Canada, 2005. </w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="4"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>M. Li and R. H. Taylor, “Performance of Teleoperated and cooperatively controlled surgical robots with automatically generated spatial virtual fixtures.,” in IEEE International Conference on Robotics and Automation. Barcelona, Spain, 2005. </w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="4"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>M. Li, “Intelligent Robotic Surgical Assistance for Sinus Surgery”, Ph.D. Thesis, Computer Science, The Johns Hopkins University, Baltimore, Maryland, 2005. </w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00AE56EF"><w:pPr><w:listPr><w:ilvl w:val="0"/><w:ilfo w:val="4"/><wx:t wx:val="§" wx:wTabBefore="360" wx:wTabAfter="255"/><wx:font wx:val="Wingdings"/></w:listPr></w:pPr><w:r><w:t>M. Li and R. H. Taylor, “Spatial Motion Constraints in Medical Robots Using Virtual Fixtures Generated by Anatomy,” in IEEE Conf. on Robotics and Automation. New Orleans, 2004, pp. 1270-1275. </w:t></w:r></w:p></wx:sub-section></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="002524D4" wsp:rsidRDefault="00D118A9" wsp:rsidP="00EB2959"><w:pPr><w:pStyle w:val="Heading1"/><w:listPr><wx:t wx:val="3. "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Robot </w:t></w:r><w:r wsp:rsidR="002524D4"><w:t>System Overview</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="CM4"/><w:spacing w:after="383"/><w:ind w:left="360"/><w:jc w:val="both"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>The goal is to create a unified assistive environment for surgery that integrates robotic devices; fused information environments combining preoperative images & models, intraoperative images & other sensors; surgical task modeling; and human-machine cooperative manipulation, as shown in Figure 1 (from Reference 2.1.1). </w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="000C7F38"><w:pPr><w:pStyle w:val="Default"/><w:spacing w:after="160"/><w:jc w:val="center"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr></w:pPr><w:r wsp:rsidRPr="000C7F38"><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr><w:pict><v:shapetype id="_x0000_t75" coordsize="21600,21600" o:spt="75" o:preferrelative="t" path="m@4@5l@4@11@9@11@9@5xe" filled="f" stroked="f"><v:stroke joinstyle="miter"/><v:formulas><v:f eqn="if lineDrawn pixelLineWidth 0"/><v:f eqn="sum @0 1 0"/><v:f eqn="sum 0 0 @1"/><v:f eqn="prod @2 1 2"/><v:f eqn="prod @3 21600 pixelWidth"/><v:f eqn="prod @3 21600 pixelHeight"/><v:f eqn="sum @0 0 1"/><v:f eqn="prod @6 1 2"/><v:f eqn="prod @7 21600 pixelWidth"/><v:f eqn="sum @8 21600 0"/><v:f eqn="prod @7 21600 pixelHeight"/><v:f eqn="sum @10 21600 0"/></v:formulas><v:path o:extrusionok="f" gradientshapeok="t" o:connecttype="rect"/><o:lock v:ext="edit" aspectratio="t"/></v:shapetype><w:binData w:name="wordml://02000001.jpg">/9j/4AAQSkZJRgABAgEAlgCZAAD/4gxYSUNDX1BST0ZJTEUAAQEAAAxITGlubwIQAABtbnRyUkdC
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</w:binData><v:shape id="_x0000_i1025" type="#_x0000_t75" style="width:330.75pt;height:243pt"><v:imagedata src="wordml://02000001.jpg" o:title=""/></v:shape></w:pict></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="000F30F7"><w:pPr><w:pStyle w:val="CM2"/><w:jc w:val="center"/><w:outlineLvl w:val="0"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>Figure 1: Overview of SAWTSR Architecture </w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="CM29"/><w:spacing w:line="276" w:line-rule="at-least"/><w:jc w:val="both"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>In this document, the system requirements are categorized by the major subsystem: </w:t></w:r></w:p><wx:sub-section><w:p wsp:rsidR="00EB2959" wsp:rsidRPr="00EB2959" wsp:rsidRDefault="00EB2959" wsp:rsidP="00EB2959"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="3.1 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00EB2959"><w:t>Robot API</w:t></w:r><w:r wsp:rsidR="00F61047"><w:t> Subsystem</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="00AE56EF" wsp:rsidP="00AE56EF"><w:pPr><w:pStyle w:val="Default"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr><w:t>T</w:t></w:r><w:r wsp:rsidR="009F2FE2"><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr><w:t>his subsystem corresponds to the interface to the robot or robots; although the design shall be influenced by the existing daVinci research API, it shall be usable for other robot systems. </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="00AE56EF" wsp:rsidRPr="00AE56EF" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00EB2959"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="3.2 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00AE56EF"><w:t>Video processing</w:t></w:r><w:r wsp:rsidR="00F61047"><w:t> Subsystem</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="00AE56EF" wsp:rsidP="00AE56EF"><w:pPr><w:pStyle w:val="Default"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr><w:t> T</w:t></w:r><w:r wsp:rsidR="009F2FE2"><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr><w:t>his subsystem provides the processing of 2D (e.g., ultrasound) and 3D (e.g., stereo video) images, using image pipelines. </w:t></w:r></w:p><w:p wsp:rsidR="00AE56EF" wsp:rsidRDefault="00AE56EF" wsp:rsidP="00AE56EF"><w:pPr><w:pStyle w:val="Default"/><w:rPr><w:b/><w:b-cs/><w:color w:val="auto"/></w:rPr></w:pPr></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="00AE56EF" wsp:rsidRPr="00AE56EF" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00EB2959"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="3.3 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Other device interfaces</w:t></w:r><w:r wsp:rsidR="00F61047"><w:t> Subsystem</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="00AE56EF" wsp:rsidP="00AE56EF"><w:pPr><w:pStyle w:val="Default"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr><w:t>Th</w:t></w:r><w:r wsp:rsidR="009F2FE2"><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr><w:t>is subsystem provides interfaces to devices other than robots and video systems, including force sensors, foot pedals, tissue oxygenation sensors, etc. </w:t></w:r></w:p><w:p wsp:rsidR="00AE56EF" wsp:rsidRDefault="00AE56EF" wsp:rsidP="00AE56EF"><w:pPr><w:pStyle w:val="Default"/><w:rPr><w:b/><w:b-cs/><w:color w:val="auto"/></w:rPr></w:pPr></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="00AE56EF" wsp:rsidRPr="00AE56EF" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00EB2959"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="3.4 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Calibration and registration</w:t></w:r><w:r wsp:rsidR="00F61047"><w:t> Subsystem</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="00AE56EF" wsp:rsidP="00AE56EF"><w:pPr><w:pStyle w:val="Default"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr><w:t>T</w:t></w:r><w:r wsp:rsidR="009F2FE2"><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/><w:color w:val="auto"/></w:rPr><w:t>his subsystem provides tools for calibrating devices or (at a minimum) for reading the calibration results produced by an external system (e.g., Matlab programs). 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</w:binData><v:shape id="_x0000_i1026" type="#_x0000_t75" style="width:353.25pt;height:264pt"><v:imagedata src="wordml://02000002.jpg" o:title=""/></v:shape></w:pict></w:r></w:p></wx:sub-section></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="000F30F7"><w:pPr><w:pStyle w:val="CM2"/><w:jc w:val="center"/><w:outlineLvl w:val="0"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>Figure 2: Illustrative data flow </w:t></w:r></w:p><wx:sub-section><w:p wsp:rsidR="00AE56EF" wsp:rsidRPr="00AE56EF" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00EB2959"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="3.8 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00AE56EF"><w:t>Volume Viewer</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="00AE56EF" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t> This </w:t></w:r><w:r wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047"><w:t>is an application-level “widget” that allows the user to view and manipulate medical images, using the daVinci master</w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t> manipulators as input devices.</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>Figure 2 shows an illustrative data flow diagram, focusing on the robot API and the pipeline for the video processing and visualization. This figure also shows the tool tracking and volume viewer subsystems. Although not specifically shown, calibration and registration functions are required. Note that other data flow configurations are possible, depending on the application requirements. </w:t></w:r></w:p></wx:sub-section></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:pPr><w:pStyle w:val="Heading1"/><w:listPr><wx:t wx:val="4. "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00F61047"><w:t>Performance Requirements </w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="00F61047" wsp:rsidP="00F61047"><w:r><w:t>T</w:t></w:r><w:r wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047"><w:t>he system shall have at least one periodic loop (“heartbeat”) that interacts with the hardware devices and/or proprietary device interface software. Many of the following performance requirements depend on the frequency of this periodic loop. </w:t></w:r></w:p><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="4.1 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00F61047"><w:t>Robot API </w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>Note: </w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:tab wx:wTab="150" wx:tlc="none" wx:cTlc="2"/><w:t>The following performance parameters are highly dependent on the particular robot that is used. The numbers cited below apply to the daVinci robot systems, but it is expected that other robot systems will meet or exceed these minimum requirements. </w:t></w:r></w:p><wx:sub-section><w:p wsp:rsidR="00F61047" wsp:rsidRDefault="00F61047" wsp:rsidP="00F61047"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="4.1.1 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Read-only Minimum Rate</w:t></w:r></w:p><w:p wsp:rsidR="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>The minimum update rate for receiving state information (e.g., robot positions) from a read-only robot shall be 50 Hz (20 msec)</w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="00F61047" wsp:rsidP="00F61047"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="4.1.2 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Read-Write Minimum Rate</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>The minimum update rate for receiving state information (e.g., robot positions) from a read-write robot shall be 30 Hz. </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="00F61047" wsp:rsidRPr="00F61047" wsp:rsidRDefault="00F61047" wsp:rsidP="00F61047"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="4.1.3 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Commanding Minimum Rate</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>The minimum update rate for commanding state changes (e.g., providing position goals) shall be 30 Hz, subject to physical constraints (e.g., robot must be able to reach target </w:t></w:r><w:r wsp:rsidR="00F61047"><w:t>positions within update cycle).</w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="00F61047" wsp:rsidRDefault="00F61047" wsp:rsidP="00F61047"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="4.1.4 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00F61047"><w:t>Detection</w:t></w:r><w:r><w:t> Latency</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>The maximum</w:t></w:r><w:r wsp:rsidR="00F61047"><w:t> </w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>latency between detection of a physical state change and availability of this information from the robot API shall be 100 msec. </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="00F61047" wsp:rsidRPr="00F61047" wsp:rsidRDefault="00F61047" wsp:rsidP="00F61047"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="4.1.5 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>C</w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>ommanded </w:t></w:r><w:r><w:t>S</w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>tate</w:t></w:r><w:r><w:t> Latency</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>The</w:t></w:r><w:r wsp:rsidR="00F61047"><w:t> </w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>maximum latency between a commanded state change and the corresponding hardware output shall be 100 msec. </w:t></w:r></w:p></wx:sub-section></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="00F61047" wsp:rsidP="00F61047"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="4.2 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Video processing</w:t></w:r></w:p><wx:sub-section><w:p wsp:rsidR="00F61047" wsp:rsidRPr="00F61047" wsp:rsidRDefault="00F61047" wsp:rsidP="00F61047"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="4.2.1 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00F61047"><w:t>Video Capture Frame Rate</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>The video capture frame rate shall be 30 frames per second. </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="00F61047" wsp:rsidRPr="00F61047" wsp:rsidRDefault="00F61047" wsp:rsidP="00F61047"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="4.2.2 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00F61047"><w:t>Video Capture </w:t></w:r><w:r><w:t>Latency</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>The latency due to video capture shall not exceed 2 time frames (depends on video capture hardware). </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="001C74F6" wsp:rsidRPr="00F61047" wsp:rsidRDefault="001C74F6" wsp:rsidP="001C74F6"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="4.2.3 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00F61047"><w:t>Overlayed Video Frame Rate</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>The processed and overlayed video frame rate shall be at least 10 frames per second. </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="001C74F6" wsp:rsidRDefault="001C74F6" wsp:rsidP="001C74F6"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="4.2.4 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00F61047"><w:t>Video Processing</w:t></w:r><w:r wsp:rsidRPr="001C74F6"><w:t> </w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>Latency</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>The latency due to video processing shall not exceed 1 time frame (e.g., 100 msec at 10 frames per second). </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="001C74F6" wsp:rsidRPr="00F61047" wsp:rsidRDefault="001C74F6" wsp:rsidP="001C74F6"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="4.2.5 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>S</w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>tereo </w:t></w:r><w:r><w:t>R</w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>econstruction </w:t></w:r><w:r><w:t>R</w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>esolution</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>The stereo reconstruction resolution is a function of the baseline width (distance between cameras), depth (distance from the cameras), camera resolution, and focal length. For a baseline of 5 mm (worst case for daVinci endoscope) and camera resolution of 640 x 480, the following resolutions are obtained (results in mm): </w:t></w:r></w:p><w:tbl><w:tblPr><w:tblW w:w="4403" w:type="dxa"/><w:tblBorders><w:top w:val="nil"/><w:left w:val="nil"/><w:bottom w:val="nil"/><w:right w:val="nil"/></w:tblBorders></w:tblPr><w:tblGrid><w:gridCol w:w="1372"/><w:gridCol w:w="756"/><w:gridCol w:w="756"/><w:gridCol w:w="756"/><w:gridCol w:w="763"/></w:tblGrid><w:tr wsp:rsidR="009F2FE2"><w:trPr><w:trHeight w:val="418"/></w:trPr><w:tc><w:tcPr><w:tcW w:w="1375" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:rPr><w:rFonts w:cs="Times New Roman"/><w:color w:val="auto"/></w:rPr></w:pPr></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="3028" w:type="dxa"/><w:gridSpan w:val="4"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="center"/></w:pPr><w:r><w:rPr><w:b/><w:b-cs/></w:rPr><w:t>Focal length, pixels </w:t></w:r></w:p></w:tc></w:tr><w:tr wsp:rsidR="009F2FE2"><w:trPr><w:trHeight w:val="405"/></w:trPr><w:tc><w:tcPr><w:tcW w:w="1375" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/></w:pPr><w:r><w:rPr><w:b/><w:b-cs/></w:rPr><w:t>Depth, mm </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="755" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="center"/></w:pPr><w:r><w:rPr><w:b/><w:b-cs/></w:rPr><w:t>700 </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="755" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="right"/></w:pPr><w:r><w:rPr><w:b/><w:b-cs/></w:rPr><w:t>800 </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="755" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="right"/></w:pPr><w:r><w:rPr><w:b/><w:b-cs/></w:rPr><w:t>900 </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="758" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="right"/></w:pPr><w:r><w:rPr><w:b/><w:b-cs/></w:rPr><w:t>1000 </w:t></w:r></w:p></w:tc></w:tr><w:tr wsp:rsidR="009F2FE2"><w:trPr><w:trHeight w:val="405"/></w:trPr><w:tc><w:tcPr><w:tcW w:w="1375" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/></w:pPr><w:r><w:rPr><w:b/><w:b-cs/></w:rPr><w:t>50 </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="755" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:shd w:val="clear" w:color="auto" w:fill="DFDFDF"/><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="center"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>0.70 </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="755" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:shd w:val="clear" w:color="auto" w:fill="DFDFDF"/><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="right"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>0.62 </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="755" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:shd w:val="clear" w:color="auto" w:fill="DFDFDF"/><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="right"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>0.55 </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="758" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:shd w:val="clear" w:color="auto" w:fill="DFDFDF"/><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="right"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>0.50 </w:t></w:r></w:p></w:tc></w:tr><w:tr wsp:rsidR="009F2FE2"><w:trPr><w:trHeight w:val="405"/></w:trPr><w:tc><w:tcPr><w:tcW w:w="1375" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/></w:pPr><w:r><w:rPr><w:b/><w:b-cs/></w:rPr><w:t>100 </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="755" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:shd w:val="clear" w:color="auto" w:fill="DFDFDF"/><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="center"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>2.78 </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="755" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:shd w:val="clear" w:color="auto" w:fill="DFDFDF"/><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="right"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>2.44 </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="755" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:shd w:val="clear" w:color="auto" w:fill="DFDFDF"/><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="right"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>2.17 </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="758" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:shd w:val="clear" w:color="auto" w:fill="DFDFDF"/><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="right"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>1.96 </w:t></w:r></w:p></w:tc></w:tr><w:tr wsp:rsidR="009F2FE2"><w:trPr><w:trHeight w:val="408"/></w:trPr><w:tc><w:tcPr><w:tcW w:w="1375" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/></w:pPr><w:r><w:rPr><w:b/><w:b-cs/></w:rPr><w:t>150 </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="755" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:shd w:val="clear" w:color="auto" w:fill="DFDFDF"/><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="center"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>6.16 </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="755" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:shd w:val="clear" w:color="auto" w:fill="DFDFDF"/><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="right"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>5.42 </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="755" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:shd w:val="clear" w:color="auto" w:fill="DFDFDF"/><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="right"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>4.84 </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="758" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:shd w:val="clear" w:color="auto" w:fill="DFDFDF"/><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="right"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>4.37 </w:t></w:r></w:p></w:tc></w:tr><w:tr wsp:rsidR="009F2FE2"><w:trPr><w:trHeight w:val="405"/></w:trPr><w:tc><w:tcPr><w:tcW w:w="1375" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/></w:pPr><w:r><w:rPr><w:b/><w:b-cs/></w:rPr><w:t>200 </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="755" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:shd w:val="clear" w:color="auto" w:fill="DFDFDF"/><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="center"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>10.81 </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="755" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:shd w:val="clear" w:color="auto" w:fill="DFDFDF"/><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="right"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>9.52 </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="755" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:shd w:val="clear" w:color="auto" w:fill="DFDFDF"/><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="right"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>8.51 </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="758" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:shd w:val="clear" w:color="auto" w:fill="DFDFDF"/><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="right"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>7.69 </w:t></w:r></w:p></w:tc></w:tr><w:tr wsp:rsidR="009F2FE2"><w:trPr><w:trHeight w:val="408"/></w:trPr><w:tc><w:tcPr><w:tcW w:w="1375" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/></w:pPr><w:r><w:rPr><w:b/><w:b-cs/></w:rPr><w:t>250 </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="755" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:shd w:val="clear" w:color="auto" w:fill="DFDFDF"/><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="center"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>16.67 </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="755" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:shd w:val="clear" w:color="auto" w:fill="DFDFDF"/><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="right"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>14.71 </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="755" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:shd w:val="clear" w:color="auto" w:fill="DFDFDF"/><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="right"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>13.16 </w:t></w:r></w:p></w:tc><w:tc><w:tcPr><w:tcW w:w="758" w:type="dxa"/><w:tcBorders><w:top w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:left w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:bottom w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/><w:right w:val="single" w:sz="5" wx:bdrwidth="12" w:space="0" w:color="000000"/></w:tcBorders><w:shd w:val="clear" w:color="auto" w:fill="DFDFDF"/><w:vAlign w:val="center"/></w:tcPr><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2"><w:pPr><w:pStyle w:val="Default"/><w:jc w:val="right"/><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr></w:pPr><w:r><w:rPr><w:rFonts w:ascii="APODLF+TimesNewRoman" w:h-ansi="APODLF+TimesNewRoman" w:cs="APODLF+TimesNewRoman"/><wx:font wx:val="APODLF+TimesNewRoman"/></w:rPr><w:t>11.90 </w:t></w:r></w:p></w:tc></w:tr></w:tbl><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"/></wx:sub-section><wx:sub-section><w:p wsp:rsidR="001C74F6" wsp:rsidRDefault="001C74F6" wsp:rsidP="001C74F6"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="4.2.6 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>R</w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>egistration </w:t></w:r><w:r><w:t>E</w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>rror</w:t></w:r><w:r><w:t> Limit</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>The registration error between 3D anatomic models and the live (video) image shall not exceed 1.5 times (150% of) the stereo reconstruction resolution, at a specified depth and focal length (see 5.2.5), not including errors due to organ deformation. </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="001C74F6" wsp:rsidRDefault="001C74F6" wsp:rsidP="001C74F6"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="4.2.7 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>I</w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>nitial </w:t></w:r><w:r><w:t>R</w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>egistration</w:t></w:r><w:r><w:t> Limit</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>The initial registration shall require no more than 1 second of computation time. </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="001C74F6" wsp:rsidRDefault="001C74F6" wsp:rsidP="001C74F6"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="4.2.8 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00F61047"><w:t>Visualization</w:t></w:r><w:r><w:t> Latency</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>The latency due to the visualization shall not exceed 10 msec (depends on video output hardware). </w:t></w:r></w:p></wx:sub-section></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="001C74F6"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="4.3 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00F61047"><w:t>Other device interfaces </w:t></w:r></w:p><wx:sub-section><w:p wsp:rsidR="001C74F6" wsp:rsidRDefault="001C74F6" wsp:rsidP="001C74F6"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="4.3.1 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00F61047"><w:t>Minimum Update Rate</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>The minimum update rate for receiving information from other devices (e.g., force sensor, tracker, etc.) shall be 50 Hz (20 msec). </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="00472BD6" wsp:rsidRPr="00F61047" wsp:rsidRDefault="00472BD6" wsp:rsidP="00472BD6"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="4.3.2 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>F</w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>orce </w:t></w:r><w:r><w:t>D</w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>ata</w:t></w:r><w:r><w:t> L</w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>atency</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>The latency of the force data (e.g., time between physical application of force and software reception of force measurement) shall be no more than 40 msec. </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="00472BD6" wsp:rsidRPr="00F61047" wsp:rsidRDefault="00472BD6" wsp:rsidP="00472BD6"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="4.3.3 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Tracker</w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t> </w:t></w:r><w:r><w:t>D</w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>ata</w:t></w:r><w:r><w:t> L</w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>atency</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>The latency of the tracker data (e.g., time between physical motion and software reception of new position) shall be no more than 100 msec. </w:t></w:r></w:p><w:p wsp:rsidR="00472BD6" wsp:rsidRDefault="00472BD6" wsp:rsidP="00F61047"/></wx:sub-section></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00472BD6"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="4.4 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00F61047"><w:t>Calibration and registration </w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>Note: Calibration and registration performance requirements shall be specified in the application requirements document, rather than in this system (workstation) requirements document. </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="00472BD6" wsp:rsidP="00472BD6"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="4.5 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Tool Tracking</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>Note: The following specifications are for the daVinci stereoscopic endoscopes and the Intuitive tool tracking software implementation. </w:t></w:r></w:p><wx:sub-section><w:p wsp:rsidR="00472BD6" wsp:rsidRPr="00F61047" wsp:rsidRDefault="00472BD6" wsp:rsidP="00472BD6"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="4.5.1 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Tool Tracking U</w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>pdate </w:t></w:r><w:r><w:t>R</w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>ate</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>The update rate of Tool Tracking shall be no more than 200 ms. </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="00472BD6" wsp:rsidRPr="00F61047" wsp:rsidRDefault="00472BD6" wsp:rsidP="00472BD6"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="4.5.2 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Tool Tracking L</w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>atency</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>The latency of Tool Tracking shall be no more than the update rate (the time to process 1 frame). </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="00472BD6" wsp:rsidRDefault="00472BD6" wsp:rsidP="00472BD6"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="4.5.3 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Position Accuracy</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>The position of an instrument shall be determined with an average accuracy of at least 4 mm, at a distance of 75-80 mm. </w:t></w:r></w:p></wx:sub-section></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="00472BD6" wsp:rsidP="00472BD6"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="4.6 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>User Interface (Visualization)</w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00472BD6"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="4.7 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00472BD6"><w:t>Telesurgery application framework</w:t></w:r></w:p><wx:sub-section><w:p wsp:rsidR="00472BD6" wsp:rsidRPr="00472BD6" wsp:rsidRDefault="00472BD6" wsp:rsidP="00472BD6"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="4.7.1 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>T</w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>ime </w:t></w:r><w:r><w:t>S</w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>ynchronization</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>The time synchronization between different components shall be defined by the minimum (slowest) update rate of the components (e.g., if the slowest component updates every 100 msec, the time synchronization shall be within 100 msec). </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="00472BD6" wsp:rsidRDefault="00472BD6" wsp:rsidP="00472BD6"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="4.7.2 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>S</w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>ystem </w:t></w:r><w:r><w:t>H</w:t></w:r><w:r wsp:rsidRPr="00F61047"><w:t>eartbeat</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00F61047"><w:r wsp:rsidRPr="00F61047"><w:t>The system heartbeat shall be 20 msec or less. </w:t></w:r></w:p></wx:sub-section></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00472BD6"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="4.8 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00F61047"><w:t>Volume viewer </w:t></w:r></w:p></wx:sub-section></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="00472BD6" wsp:rsidP="00472BD6"><w:pPr><w:pStyle w:val="Heading1"/><w:listPr><wx:t wx:val="5. "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>S</w:t></w:r><w:r wsp:rsidR="00FD64F9" wsp:rsidRPr="00F61047"><w:t>afety Requirements</w:t></w:r></w:p><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00F61047" wsp:rsidRDefault="00EC0396" wsp:rsidP="00EC0396"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="5.1 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Robot API</w:t></w:r></w:p><wx:sub-section><w:p wsp:rsidR="00EC0396" wsp:rsidRDefault="00EC0396" wsp:rsidP="00EC0396"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="5.1.1 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>P</w:t></w:r><w:r wsp:rsidRPr="00FD64F9"><w:t>ower</w:t></w:r><w:r><w:t> Disable</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00FD64F9" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00FD64F9"><w:r wsp:rsidRPr="00FD64F9"><w:t>The read-write Robot API shall include a software command to</w:t></w:r><w:r wsp:rsidR="00FD64F9" wsp:rsidRPr="00FD64F9"><w:t> </w:t></w:r><w:r wsp:rsidRPr="00FD64F9"><w:t>allow application programs to disable power to the robot motors. </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="00EC0396" wsp:rsidRDefault="00EC0396" wsp:rsidP="00EC0396"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="5.1.2 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>E</w:t></w:r><w:r wsp:rsidRPr="00FD64F9"><w:t>mergency </w:t></w:r><w:r><w:t>Disengagement</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00FD64F9" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00FD64F9"><w:r wsp:rsidRPr="00FD64F9"><w:t>The system shall provide a method for disengaging the research interface from any clinical robot capable of operating in a stand-alone manner (e.g., the daVinci) for emergency responses. </w:t></w:r></w:p></wx:sub-section></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00FD64F9" wsp:rsidRDefault="00EC0396" wsp:rsidP="00EC0396"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="5.2 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Video processing</w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="00EC0396" wsp:rsidP="00EC0396"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="5.3 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Other device interfaces</w:t></w:r></w:p><wx:sub-section><w:p wsp:rsidR="00EC0396" wsp:rsidRPr="00EC0396" wsp:rsidRDefault="00EC0396" wsp:rsidP="00EC0396"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="5.3.1 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>E</w:t></w:r><w:r wsp:rsidRPr="00FD64F9"><w:t>mergency </w:t></w:r><w:r><w:t>S</w:t></w:r><w:r wsp:rsidRPr="00FD64F9"><w:t>top</w:t></w:r><w:r><w:t> Switch</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00FD64F9" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00FD64F9"><w:r wsp:rsidRPr="00FD64F9"><w:t>The system shall include an “emergency stop” switch that disables power to the robot motors and any other potentially hazardous device. </w:t></w:r></w:p></wx:sub-section></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00FD64F9" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00EC0396"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="5.4 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00FD64F9"><w:t>Calibration and registration </w:t></w:r></w:p><wx:sub-section><w:p wsp:rsidR="00EC0396" wsp:rsidRDefault="00EC0396" wsp:rsidP="00EC0396"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="5.4.1 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>C</w:t></w:r><w:r wsp:rsidRPr="00FD64F9"><w:t>omputation </w:t></w:r><w:r><w:t>M</w:t></w:r><w:r wsp:rsidRPr="00FD64F9"><w:t>ethods</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00FD64F9" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00FD64F9"><w:r wsp:rsidRPr="00FD64F9"><w:t>The computation methods shall indicate the residual error, so that users can determine how much confidence to place in the result. </w:t></w:r></w:p></wx:sub-section></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00FD64F9" wsp:rsidRDefault="00EC0396" wsp:rsidP="00EC0396"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="5.5 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Tool tracking</w:t></w:r><w:r wsp:rsidR="009F2FE2" wsp:rsidRPr="00FD64F9"><w:t> </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00FD64F9" wsp:rsidRDefault="00EC0396" wsp:rsidP="00EC0396"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="5.6 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>User Interface (Visualization)</w:t></w:r></w:p><wx:sub-section><w:p wsp:rsidR="00EC0396" wsp:rsidRDefault="00EC0396" wsp:rsidP="00EC0396"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="5.6.1 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00FD64F9"><w:t>Unmodified</w:t></w:r><w:r><w:t> Visualization</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00FD64F9" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00FD64F9"><w:r wsp:rsidRPr="00FD64F9"><w:t>The system shall provide a method for disengaging the research visualization output, so that a clinician can revert to the visualization provided by an unmodified clinical robot (e.g., a clinical daVinci). </w:t></w:r></w:p></wx:sub-section></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00EC0396"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="5.7 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00FD64F9"><w:t>Telesurgery application framew</w:t></w:r><w:r wsp:rsidR="00EC0396"><w:t>ork</w:t></w:r></w:p><wx:sub-section><w:p wsp:rsidR="00EC0396" wsp:rsidRPr="00EC0396" 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"/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Design Constraints</w:t></w:r></w:p><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00FD64F9" wsp:rsidRDefault="00DD3A6B" wsp:rsidP="00DD3A6B"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="6.1 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Operating System</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00FD64F9" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00FD64F9"><w:r wsp:rsidRPr="00FD64F9"><w:t>The system shall be designed to operate on Red Hat Enterprise Linux WS 4. It is desirable for it to work with any type of Linux, with future extension to a real-time Linux such as RTAI. </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00FD64F9" wsp:rsidRDefault="00DD3A6B" wsp:rsidP="00DD3A6B"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="6.2 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Programming Language</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00FD64F9" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00FD64F9"><w:r wsp:rsidRPr="00FD64F9"><w:t>The software shall be written in C/C++. </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00FD64F9" wsp:rsidRDefault="00DD3A6B" wsp:rsidP="00DD3A6B"><w:pPr><w:pStyle w:val="Heading2"/><w:listPr><wx:t wx:val="6.3 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r><w:t>Software Libraries</w:t></w:r></w:p><wx:sub-section><w:p wsp:rsidR="00DD3A6B" wsp:rsidRDefault="00DD3A6B" wsp:rsidP="00DD3A6B"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="6.3.1 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00FD64F9"><w:t>CISST </w:t></w:r><w:r><w:t>L</w:t></w:r><w:r wsp:rsidRPr="00FD64F9"><w:t>ibraries</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00FD64F9" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00FD64F9"><w:r wsp:rsidRPr="00FD64F9"><w:t>The software shall use the CISST libraries. </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="00DD3A6B" wsp:rsidRDefault="00DD3A6B" wsp:rsidP="00DD3A6B"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="6.3.2 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00FD64F9"><w:t>VTK</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00FD64F9" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00FD64F9"><w:r wsp:rsidRPr="00FD64F9"><w:t>The software shall use the Visualization Toolkit (VTK) for visualization of images. The software may optionally use other toolkits that build on, or extend, VTK. </w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="00DD3A6B" wsp:rsidRDefault="00DD3A6B" wsp:rsidP="00DD3A6B"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="6.3.3 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00FD64F9"><w:t>Intuitive Surgical</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00FD64F9"><w:r wsp:rsidRPr="00FD64F9"><w:t>The tool tracking module shall be based on existin</w:t></w:r><w:r wsp:rsidR="00DD3A6B"><w:t>g code from Intuitive Surgical.</w:t></w:r></w:p></wx:sub-section><wx:sub-section><w:p wsp:rsidR="00DD3A6B" wsp:rsidRPr="00FD64F9" wsp:rsidRDefault="00DD3A6B" wsp:rsidP="00DD3A6B"><w:pPr><w:pStyle w:val="Heading3"/><w:listPr><wx:t wx:val="6.3.4 "/><wx:font wx:val="Times New Roman"/></w:listPr></w:pPr><w:r wsp:rsidRPr="00FD64F9"><w:t>daVinci research API</w:t></w:r></w:p><w:p wsp:rsidR="009F2FE2" wsp:rsidRPr="00FD64F9" wsp:rsidRDefault="009F2FE2" wsp:rsidP="00FD64F9"><w:r wsp:rsidRPr="00FD64F9"><w:t>The daVinci research API shall be jointly evaluated by ISI and JHU to determine whether to add a requirement to port it to use the CISST operating system abstraction and real-time support libraries (for the thread that manages the data stream).</w:t></w:r></w:p><w:sectPr wsp:rsidR="009F2FE2" wsp:rsidRPr="00FD64F9" wsp:rsidSect="00F61047"><w:type w:val="continuous"/><w:pgSz w:w="12240" w:h="15840"/><w:pgMar w:top="1080" w:right="1080" w:bottom="1080" w:left="1080" w:header="720" w:footer="720" w:gutter="0"/><w:cols w:space="720"/><w:noEndnote/></w:sectPr></wx:sub-section></wx:sub-section></wx:sub-section></wx:sect></w:body></w:wordDocument>
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