1P1-C01 Surgical robot system with heart-beat canceller for coronary artery bypasses grafting : Evaluation of synchronized motion with heart-beat

Abstract

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.