Cardiolock: an active cardiac stabilizer first in vivo experiments using a new robotized device

Authors:
Wael Bachta;Pierre Renaud;Edouard Laroche;Jacques Gangloff;Antonello Forgione
Affiliations:
LSIIT, UMR, CNRS, ULP, Strasbourg I University, France;LGeCo, INSA-Strasbourg, France;LSIIT, UMR, CNRS, ULP, Strasbourg I University, France;LSIIT, UMR, CNRS, ULP, Strasbourg I University, France;IRCAD, EITS, University Hospital of Strasbourg, France
Venue:
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention - Volume Part I
Year:
2007

Citing 2
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Cardiolock2: parallel singularities for the design of an active heart stabilizer

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Abstract

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.