Robotic stabilisation assisting cardiac surgery on beating hearts

摘要

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.