A robot support system for minimally invasive cardiac surgery using image processing

摘要

We presented a research on a Visual Stabilization System for Minimally Invasive Cardiac Surgery using Active Prism. However, we could not stabilize the motion of the heart completely. In this paper, we propose a Hybrid Visual Stabilization System. It uses the Active Prism and image processing. We design a controller for Active Prism by H{sub}∞ control theory.