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Robotic apparatus

  • US 20050043718A1
  • Filed: 07/15/2004
  • Published: 02/24/2005
  • Est. Priority Date: 09/19/1997
  • Status: Active Grant
First Claim
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1. A servomechanical system comprising:

  • a master unit having a movable master;

    a slave unit having a surgical end effector, the slave moving the end effector in response to movement of the master;

    a controller coupling the master unit to the slave unit so that an operator manipulating the master can direct the surgical end effector in performing a surgical procedure on a beating heart; and

    means for stabilizing an image of a portion of the beating heart, wherein the stabilizing means comprises a sensor, in direct contact with said portion of the heart, for measuring beating movement of said portion of the heart, and wherein the controller calculates a frame of reference of the heart using the measured heart movement.

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