Fig. 5. Software Development Cycle.

In simulation, we replayed data from prior in vivo experiments to evaluate and debug software. New features were first implemented in the simulator to either address previously identified in vivo challenges or to extend robot capabilities. New software was then tested in the ex-vivo model to check the desired functionality and to ensure code stability. Identified problems were addressed by iterating between in silico and ex vivo testing. New software features were then assessed with in vivo testing. The design cycle was then completed by importing the in vivo data into the simulator and evaluating algorithm performance.