Robotic stabilization that assists cardiac surgery on beating hearts.

Abstract

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.