Abstract
This paper presents the development of robot capable to simulate heartbeat. It is difficult to operate off-pump coronary-artery bypass surgery. Consequently, we develop the surgical robot system with heart-beat compensation. In the process of developing the robot system above, it is necessary to evaluate the tracking capability of the robot system quantitatively. Therefore, we developed the Robotic heart-beat simulator which evaluates the robot system. First of all, required specification of the robot was found by the heartbeat data in vivo experiment. Second, the link parameters of the robot that satisfy the specification were optimized. At the end, the robot was evaluated for accuracy of position and posture. As a result, the robot moved with maximum error of 0.28 [mm] and 0.54 [deg]. In addition, the robot was evaluated in the experiment of movement based on the heartbeat data, it showed a little error and time-lag, but utility of the robotic heartbeat simulator.
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