Integration of ‘Central’ and ‘Peripheral’ Nervous Systems in Scrub Nurse Robot and Comparison Between ‘Voluntary’ and ‘Reflex’ Movements

摘要

We have developed a scrub nurse robot (SNR) system which is capable of helping surgery. We used C++ programming language to control the mechanical and sensory parts of SNR (peripheral nervous system), but selected UPPAAL to create a comprehensive surgery model (central nervous system) because surgical operations are very complex. To solve a problem that C++ and UPPAAL could not communicate with each other, we developed a software interface "DTRON". We verified that DTRON realized the communication. Furthermore, by comparison of simulated ‘voluntary’ and ‘reflex’ movements, the delay due to the ‘voluntary’ movements was found imperceptible and negligible because the signal transmission through DTRON took about 0.6 msec.