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Safety Critical systems from which medical robots if get stopped or get defected because of their faults they may result in death. This paper provides a fault tolerant multilayer framework for safety critical systems. Triple Modular redundancy method (TMR) uses comparative parallel plurality voter in sensor section. A TMR voter circuit that its work is tolerating the faults in in sensor section will choose one of three exits of sensor for processing. The performance of voting algorithm is calculated by a set of fault injection experiments. Up to now different algorithms are provided for voting while in this paper comparative parallel plurality algorithm is provided because of high speed of processing and low time complexity in comparison with other algorithm.
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