Abstract
Myoblast cell sheets are taking into the clinical treatment of heart disorders. In our study, we proposed a surgical robot system, includes a robot system with the characteristics of Double RCM (remote center of motion) mechanism, which can cancel and compensation the beating heart surface movement for the myoblast cell sheet transplantation and two endoscopic cameras to capture heart surface motion without obstruct the transplantation of the sheets. The linear and rotation motion of the robot system are totally isolated, realized by employed a Double RCM mechanism. An experiment is conducted to evaluate the tracking accuracy of our robot system in tracking an approximate -period moving target. The tracking data is updating by Polaris system in 30Hz. From the experiment, we got the results that the linear and error is 4.67±3.73 mm and the rotation tracking error is 2.86±5.50 degree.
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