Robotic stabilization that assists cardiac surgery on beating hearts.
Minimally Invasive Direct Coronary Artery Bypass (MIDCAB) requires surgeons the precision of hand skill and the mental concentration, since it needs to work on beating hearts. We propose a surgical robot system that compensates motions of organs during operations. The motion canceling robot system consists of three technologies visual synchronization, motion synchronization and master slave control. In this paper, we verify the effectiveness of the prototype system by in-vivo experiment.
Nakamura
Y
Y
Department of Mechano-Informatics, University of Tokyo, 7-3-1, Hongo, Bunkyoku, Tokyo 113-8656 Japan.
Kishi
K
K
D003199:Computer Systems; D001026:Coronary Artery Bypass / Q000295:instrumentation*; D004867:Equipment Design; D006801:Humans; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation*; D009200:Myocardial Contraction; D019047:Phantoms, Imaging; D012371:Robotics / Q000295:instrumentation*; D014584:User-Computer Interface