The purpose of this study is to develop a robotic surgery system for beating heart surgery. The robotic system developed in this project will actively track and cancel the relative motion between the heart surface and the surgical tools that are attached to the robotic manipulators, dynamically stabilizing the heart for the operation. In this scheme, the surgeon views a stabilized view of the heart on a video display with images provided by a camera mounted on the robotic arm, allowing CABG surgeries to be performed on a beating heart with technical perfection equal to traditional on-pump surgeries.

This project is supported by European Union’s 7th Framework Programme for Research (FP7) Marie Curie Reintegration Grant