Motion-Cancelling Robot System for Minimally Invasive Cardiac Surgery

摘要

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 stabilization, motion stabilization and master-slave control. The visual stabilization provides the surgeon with the image of stabilized target point on the video monitor. The surgeon operates the master robot referring to the stabilized image. The motion stabilization, on the other hand, controls the slave robot being synchronized with the heart beat, which has the function of the master-slave control. In this paper, we verify the effectiveness of the prototype system by in-vivo experiment.