抄録
This paper proposes a manipulator system for Minimally Invasive Heart surgery. This manipulator system consists of three manipulators. First one is beat measuring manipulator which sticks on the surface of the heart and measures the position in 3DOF. Second one is Endoscopic manipulator which is synchronized with beat measuring manipulator. And third one is heart sheet sticking manipulator. By use of this manipulator system, surgeon is able to operate the heart as stationally object. Beat measuring manipulator consists of parallel linkage and flat surface linkage, and they are controlled passive and active by use of clutch engagement. Synchronization performance is evaluated by measurement of position error and latency.
