STABILIZER FOR ROBOTIC BEATING-HEART SURGERY

摘要

Surgical devices allow closed chest surgery to be performed on a heart of a patient while the heart is beating. A region of the heart is stabilized by engaging a surface of the heart with a stabilizer (400) without having to stop the heart. Motion of the target tissues is inhibited sufficiently to treat the target tissues with robotics surgical tools (100) which move in response to inputs of a robotics system operator. A stabilizing surface (414) of the stabilizer is coupled to a drive system (750) to position the surface from outside the patient, preferably by actuators of the robotics servomechanism. Exemplary stabilizers include a suture or other flexible tension member spanning between a pair of jointed bodies, allowing the member to occlude a coronary blood vessel, and/or help stabilize the target region between the stabilizing surfaces.