Title :
A surgical robot with a heart-surface-motion synchronization mechanism for myoblast cell sheet transplantation
Author :
Kangyi Xu ; Nakamura, Ryosuke
Author_Institution :
Chiba Univ., Chiba, Japan
Abstract :
Myoblast cell sheets are employed in the clinical treatment of heart disorders. We propose a surgical robot system with two endoscopic cameras, characterized by a double remote center of motion (RCM) mechanism, to realize heart-surface-motion synchronization movement for myoblast cell sheet transplantation on a beating heart surface. A robot system with the double RCM mechanism was developed for which the linear and rotation motions are totally isolated, and an experiment was conducted to evaluate the tracking accuracy of the robot system when tracking a randomly moving target. The tracking data were updated with a Polaris system at 30 Hz. The experiment results showed linear and rotation tracking errors of 4.93 ± 5.92 mm and 2.54 ± 5.44°, respectively.
Keywords :
biomechanics; cardiology; cellular biophysics; endoscopes; medical disorders; medical robotics; muscle; surgery; target tracking; Polaris system; double remote center of motion mechanism; endoscopic cameras; frequency 30 Hz; heart disorders; heart-surface-motion synchronization mechanism; linear motion; linear tracking errors; myoblast cell sheet transplantation; rotation motion; rotation tracking errors; surgical robot; target tracking; Accuracy; Actuators; Heart; Medical robotics; Synchronization; Tracking;
Conference_Titel :
Engineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE
Conference_Location :
Osaka
DOI :
10.1109/EMBC.2013.6610842
