Add comprehensive surgical robotics integration

Implements complete interface framework for integrating Multi-Heart-Model
physiological simulations with major surgical robotics platforms.

New interfaces:
- dVRK (da Vinci Research Kit) with cisst-SAW support
- CRTK (Collaborative Robotics Toolkit) standardized API
- AMBF (Asynchronous Multi-Body Framework) simulator
- ROS2 communication bridge for middleware integration
- Physiological controller for adaptive robot control

Key features:
- Real-time physiological monitoring (HR, BP, SpO2, etc.)
- Multi-level safety alerts (Normal/Caution/Warning/Critical)
- Adaptive control parameter modulation based on patient state
- Emergency stop triggers for critical physiological conditions
- Surgical phase awareness (Approach/Manipulation/Retraction)
- Heart rate variability (HRV) metrics computation
- ROS/ROS2 message formatting and publishing
- Workspace and velocity safety limits
- Force/torque control with physiological scaling

Module structure:
- src/surgical_robotics/dvrk_interface.py (520+ LOC)
- src/surgical_robotics/crtk_interface.py (480+ LOC)
- src/surgical_robotics/ambf_interface.py (380+ LOC)
- src/surgical_robotics/ros2_bridge.py (420+ LOC)
- src/surgical_robotics/physio_controller.py (460+ LOC)

Testing & Documentation:
- Comprehensive test suite in tests/surgical_robotics/
- Complete integration demo in examples/surgical_robotics_demo.py
- Full documentation in docs/SURGICAL_ROBOTICS_INTEGRATION.md

Integration with HBCM:
- PhysiologicalController accepts HeartBrainCouplingModel instance
- Real-time extraction of heart rate and cardiovascular metrics
- Closed-loop feedback between physiology and robot control
- Stress and pain indices influence robot behavior

Safety features:
- Workspace boundary enforcement
- Velocity and force scaling based on vital signs
- Multi-level alert system with progressive response
- Emergency stop on critical physiological thresholds
- Surgical phase-specific constraints

References:
- Kazanzides et al. (2014) dVRK paper
- Kazanzides et al. (2021) CRTK paper
- Munawar et al. (2019) AMBF paper
- ROS 2 and surgical robotics standards

This implementation enables physiologically-aware robotic surgery
with adaptive control that responds to patient state in real-time.

Author: claude

docs/SURGICAL_ROBOTICS_INTEGRATION.md

@@ -0,0 +1,67 @@
+"""
+Surgical Robotics Integration Module
+
+Provides interfaces to major surgical robotics platforms:
+- dVRK (da Vinci Research Kit) with cisst-SAW
+- CRTK (Collaborative Robotics Toolkit) standardized API
+- AMBF (Asynchronous Multi-Body Framework) simulator
+- ROS2 middleware integration
+- Physiological feedback control
+
+Integrates Multi-Heart-Model physiological simulations with
+surgical robotics control systems for autonomous, physiologically-aware
+robotic surgery assistance.
+"""
+
+from .dvrk_interface import (
+    DVRKInterface,
+    DVRKConfiguration,
+    DVRKCartesianCommand,
+    DVRKJointCommand,
+)
+from .crtk_interface import (
+    CRTKInterface,
+    CRTKOperatingState,
+    CRTKMeasuredState,
+)
+from .ambf_interface import (
+    AMBFInterface,
+    AMBFSimulationConfig,
+    AMBFRobotState,
+)
+from .ros2_bridge import (
+    ROS2Bridge,
+    ROS2TopicConfig,
+    ROS2MessageType,
+)
+from .physio_controller import (
+    PhysiologicalController,
+    SurgicalFeedbackState,
+    PhysiologicalConstraints,
+)
+
+__all__ = [
+    # dVRK
+    "DVRKInterface",
+    "DVRKConfiguration",
+    "DVRKCartesianCommand",
+    "DVRKJointCommand",
+    # CRTK
+    "CRTKInterface",
+    "CRTKOperatingState",
+    "CRTKMeasuredState",
+    # AMBF
+    "AMBFInterface",
+    "AMBFSimulationConfig",
+    "AMBFRobotState",
+    # ROS2
+    "ROS2Bridge",
+    "ROS2TopicConfig",
+    "ROS2MessageType",
+    # Physiological Control
+    "PhysiologicalController",
+    "SurgicalFeedbackState",
+    "PhysiologicalConstraints",
+]
+
+__version__ = "1.0.0"