書誌事項
- タイトル別名
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- Motion-Cancelling Robot System for Minimally Invasive Cardiac Surgery
- コウソクド カメラ オ モチイタ シンパクドウ ドウキ ト ソレ オ モチイタ シンゾウ ゲカ シュジュツ シエン ロボット システム
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抄録
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 consists of three technologies; visual stabilization, motion stabilization and master-slave control. The visual stabilization provides the surgeon with the image of stabilized target point on the video monitor. The surgeon 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, which has the function of the master-slave control. In this paper, we verify the effectiveness of the prototype system by in-vivo experiment.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 21 (4), 451-459, 2003
一般社団法人 日本ロボット学会
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キーワード
詳細情報 詳細情報について
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- CRID
- 1390001204726094720
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- NII論文ID
- 130000847876
- 10012705838
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
- http://id.crossref.org/issn/02891824
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- NDL書誌ID
- 6587944
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可