Motion-Cancelling Robot System for Minimally Invasive Cardiac Surgery.

摘要

Minimally invasive cardiac surgery is getting strong recent attentions in medical robotics. In particular, 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. In this paper, we propose a surgical robot system that compensates motions of organs during operations. The motion canceling robot system includes two technologies; visual stabilization and motion stabilization. The visual stabilization provides the surgeon with the image of stabilized target point on the monitor. The surgeon operates the master robot referring to the stabilized image. The motion stabilization, on the other hand, transforms the master motion and controls the slave robot being synchronized with the heart beat. The concept of system is proposed and its prototype is designed and developed based on the frequency analysis of the heart beat. The in vivo experiments verify the effectiveness of the technologies.