Being the operational compensating system of the operation

摘要

PROBLEM TO BE SOLVED: To provide a motion compensation system capable of automatically switching a state that a motion of internal organ is compensated and a state otherwise with respect to a prescribed device constituting a surgical robot.;SOLUTION: A surgical robot system 10 includes: a control unit 61 for controlling a robot body 20 for movably operating a surgical tool 52; a first endoscope 17 capable of picking up an image of the heart H in a static state; a second endoscope 38 capable of picking up an image of the heart H while operating following the movement of the heart H; an image processor 62 for selecting any image from the respective endoscopes 17 and 38; and a pulsation compensation device 60 for commanding the control unit 61 and the image processor 62 to switch ON and OFF of pulsation compensation. The pulsation compensation device 60 puts the control unit 61 and the image processor 62 in a motion compensation mode when a distance between a standard part and the surgical tool 52 is prescribed value or below, and puts the respective devices 61 and 62 in a normal mode when the distance is over the prescribed value.;COPYRIGHT: (C)2009,JPO&INPIT