A multidisciplinary team working in several research centers in Poland is carrying out a research project that involves developing various strategies for heart surgery, making simulations of operations, developing an ergonomic workstation for the surgeon, designing a control system and a mechanical "manipulator" as well as building necessary models and a prototype. The project is called Robin Heart.

So far, a number of models have been designed, and different ways of relaying information to the machine are being tested-by means of voice, palm motion and head motion. The researchers are also working on an intelligent database. Activated by voice, it would enable the display of diagnostic data and data from surgical simulations. The operating surgeon will be able to use an advisory program at any moment. The researchers have designed many motion-control models, adapted to different capabilities and experience of surgeons.

A virtual operating theater developed in Zabrze is also being tested. After putting on special glasses, one can position the robot on the operating table in the right way and determine the maximum workspace that can be obtained.

The surgical "telemanipulator" is composed of two instrument arms and one additional arm that holds a camera. The manipulator has two mechanical parts-a kinematic positioning system and a kinematic system used to change the orientation of the instrument tip. The manipulator's arm is supposed to enable the operation and movement of the instrument working tip inserted into the patient's body through a small opening, or port. The basic task of the control module of the system is mapping the movements of the surgeon onto the motion of the instrument arm. The system ensures the required precision, makes it possible to increase manipulation accuracy and eliminates the surgeon's hand tremor effect.