Robotic stabilisation assisting cardiac surgery on beating hearts |
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| Authors: | Y. Nakamura K. Kishi |
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| Affiliation: | Department of Mechano-Informatics, Graduate School of Information Science and Technology, University of Tokyo, Japan |
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| 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. |
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| Keywords: | Cardiac Surgery Robot Systems Synchronisation Midcab Stabilisation |
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