1P1-C01 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 : 心拍動に対する術具先端の追従性の評価(手術支援ロボティクス・メカトロニクス)

概要

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We have developed the surgical robot system with heart-beat canceller for coronary artery bypass grafting. This robot system accomplishes the compensation by synchronized with heart-beat. The purpose of the research is evaluation of synchronization performance in the surgical robot system. We used a three dimensional motion capture (OPTOTRAK) for tracking the synchronized motion of the surgical robot system. The evaluation experiment showed that the position of the surgical robot system is greatly different from the position of the heart. Future work is the development of the closed-loop in the tip of the surgical robot system for decreasing the error of synchronization.
一般社団法人日本機械学会の論文
2008-06-06