title: Robotic stabilisation assisting cardiac surgery on beating hearts.
abstract: Minimally invasive direct coronary artery bypass (MIDCAB) requires precise work on beating hearts and demands of surgeons' manual dexterity and mental concentration. We propose a surgical robot system that compensates for motions of organs during operations. The motion-cancelling robot system consists of three technologies: visual synchronisation, motion synchronisation and master-slave control. In this paper, we verify the effectiveness of the prototype system by an in vivo experiment.