Cardiolock: An Active Cardiac Stabilizer
نویسندگان
چکیده
Off-pump Coronary Artery Bypass Grafting (CABG) is still today a technically difficult procedure. In fact, the mechanical stabilizers used to locally suppress the heart excursion have been demonstrated to exhibit significant residual motion. We therefore propose a novel active stabilizer which is able to compensate for this residual motion. The interaction between the heart and a mechanical stabilizer is first assessed in vivo on an animal model. Then, the principle of active stabilization, based on the high speed vision-based control of a compliant mechanism, is presented. In vivo experimental results are given using a prototype which structure is compatible with a minimally invasive approach.
منابع مشابه
The Cardiolock Project: Design of an Active Stabilizer for Cardiac Surgery
Coronary artery bypass grafting is a common surgical procedure that requires a high level of accuracy. To perform this procedure on a beating heart, surgeons reduce the heart motion with passive stabilizers. These devices, however, lack accuracy. Indeed, marked residual motion of the area of interest can be observed. In this paper, we address the problem with the design of an active stabilizer,...
متن کاملCardiolock: an active cardiac stabilizer. First in vivo experiments using a new robotized device.
Off-pump Coronary Artery Bypass Grafting (CABG) is still a technically difficult procedure. The mechanical stabilizers used for local suppression of the heart excursion have been demonstrated to exhibit significant residual motion, which could lead to a lack of accuracy in performing the surgical task, particularly when using a minimally invasive surgery (MIS) approach. We therefore propose a n...
متن کاملInnovative use of the octopus stabilizer in the excision of a cardiac hydatid cyst
Hydatid disease is caused through Echinococcus granulosus infection. Hydatid disease remains endemic in developing countries. The majority of cases involve the lungs or liver. We report the case of a patient diagnosed with concurrent mediastinal and cardiac cysts. In this patient, the Octopus IV cardiac stabilizer was used to rotate the heart after the excision of the mediastinal cyst, enabling...
متن کاملActive Cardiac Stabilization using H∞ Control Methodology
Beating heart surgery is an important milestone in cardiac surgery. This technique is currently made possible thanks to the use of passive mechanical stabilizers. Nevertheless, the commercially available stabilizers exhibit significant residual motion, which is inherent to their geometry. Recently, a novel active stabilizer based on a compliant structure has been designed. High-speed visual fee...
متن کاملBasic Issues in Identification Scheme of a Self-Tuning Power System Stabilizer
Power system stabilizers have been widely used and successfully implemented for the improvement of power system damping. However, a fixed parameter power system stabilizer tends to be sensitive to variations in generator dynamics so that, for operating conditions away from those used for design, the effectiveness of the stabilizer can be greatly impaired. With the advent of microprocessor techn...
متن کامل