2A1-H08 冠状動脈バイパス手術を支援する拍動補償ロボットシステム : シンクロナイズド・モーションに関する検討(手術支援ロボティクス・メカトロニクス)

概要

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Purpose of this study is the development of surgical robot system with heartbeat compensation. By driving manipulator using the sensing data of the heartbeat, the position and orientation of heart and that of the manipulator are synchronized and relatively fixed. Hereby minimum motion like interarterial coronary anastomosis under the heartbeat becomes possible and therefore it will be minimally invasive. This paper describes the method of heartbeat compensation, master-slave surgical system and heartbeat compensation system. The Shincronaized motion is to make the robot follow to the movement of the heart, the detected heart position is input to the slave robot. The Shincronaized vision is to offer the image of a geostationary heart. We report on the work experiment to combine the Shincronaized motion with the Shincronaized vision.
一般社団法人日本機械学会の論文
2007-05-11