Nawrat Z, Kostka P
Foundation for Cardiac Surgery Development, Zabrze, Poland.
Int J Med Robot. 2006 Mar;2(1):36-44. doi: 10.1002/rcs.67.
This paper presents the mechanical structure and control system of the Polish cardio-robot Robin Heart (RIH).
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, RH0, 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.
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.
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.
本文介绍了波兰心脏机器人Robin Heart（RIH）的机械结构和控制系统。
波兰心脏手术机器人项目始于2000年。该项目由扎布热心脏手术发展基金会的团队支持，与罗兹和华沙的研究中心合作开展。到目前为止，已经设计、制造并测试了Robin Heart机器人家族的三个原型，即RH0、1和2。此外，还构建了许多诊断系统来辅助评估机器人性能。
本文的主要重点是根据远程操作器系统机械和控制方面的实验室测试结果，对我们的原型进行技术评估。
Robin Heart远程操作器系统机械和电气方面的测试结果表明，从机械和控制角度来看都取得了显著进展，同时测试参数的表征也有所改进。
