Polish cardio-robot 'Robin Heart'. System description and technical evaluation

Background: This paper presents the mechanical structure and control system of the Polish cardio-robot Robin Heart (RIH). Methods: The Polish project with cardiac surgery robots started in 2000. It was supported by the team from the Foundation of Cardiac Surgery Development, Zabrze, in cooperation with research centers in Lodz and Warsaw. So far three prototypes, RHO, 1 & 2, of the Robin Heart robots family have been designed, constructed and tested. In addition many diagnostic systems have been constructed to aid with the assessment of robot performance. Results: The main focus of this article examines the technical evaluation of our prototypes, based on laboratory test results of both the mechanical and control aspects of the telemanipulator systems. Conclusions: The presented test results of both mechanical and electrical aspects of Robin Heart telemanipulator systems, show significant progress both in a mechanical and control viewpoint, along with an improvement in the characterisation of the test parameters.