Robotic system for close inspection and remote treatment of moving parts

摘要

A medical system to perform closed chest coronary artery bypass graft surgery on the beating heart by using virtual target image arrest; components of the system may be: a) thoracoscopic 3D video-imaging of the surgical target area and stereoscopic video display in operating spectacles; b) 3D video-tracking of beacons in the vicinity of the surgical target area or tracking by some other means; c) virtual target image arrest by real time image manipulation to minimize beacon movement; d) target motion compensated thoracoscopic robot arms with thoracoscopic surgical tools which track the moving target in real time; e) surgeon directed manipulation of robotic surgical tools with the surgeon's motions superimposed on the automated tracking motions; f) voice command control to switch virtual target arrest or automated tracking by robot arms on and off; g) voice command control to scale down the surgeon's movements by the robotic tools; h) voice command control of zoom module to magnify a specified part in the stereoscopic image.