Patent ID: 6468265
Filing Date: 2002-10-22
Classification: A61B

Abstract:
A method of performing a surgical procedure on a beating heart of a patient, the method including:positioning an end effector in close proximity to a surgical site on the heart at which site a surgical procedure is to be performed, the end effector being mounted on a robotically controlled arm; providing a brace member mounted on another robotically controlled arm; forwarding command signals to actuators operatively associated with the another robotically controlled arm to cause the arm to move the brace member from a position clear of the heart to a position in contact with the heart; bracing the beating heart with a brace member to at least reduce motion of the surgical site; inputting an end effector movement command signal; and forwarding the end effector movement command signal to actuators operatively associated with the robotically controlled arm to cause the end effector to move relative to the surgical site so as to perform at least part of the surgical procedure at the surgical site.