セッションV/ロボット・マニピュレータ (2)

2000
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 includes three technologies; visual stabilization, motion stabilization and master-slave. The visual stabilization provides the surgeon with the image of stabilized target point on the monitor. The
more » ... geon 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. Master-slave transforms the master motion and controls the slave robot. In this paper, we verify the effectiveness of master-slave system with the motion cancelator.
doi:10.5759/jscas1999.2.163 fatcat:3cgcbr4plvbdfj5dztfr5gersi