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 novel active stabilizer to compensate for the residual motion whose architecture is compatible with MIS. An experimental evaluation of a commercially available totally endoscopic stabilizer is first presented to demonstrate the unsatisfactory behavior of this device. Then, the interaction between the heart and a mechanical stabilizer is assessed in vivo using an animal model. Finally, the principle of active stabilization, based on the high-speed vision-based control of a piezo-actuated compliant mechanism, is presented, along with in vivo experimental results obtained using a prototype to demonstrate its efficiency. © 2008 Informa UK Ltd.
CITATION STYLE
Bachta, W., Renaud, P., Laroche, E., Forgione, A., & Gangloff, J. (2008). Cardiolock: An active cardiac stabilizer. First in vivo experiments using a new robotized device. In Computer Aided Surgery (Vol. 13, pp. 243–254). Taylor and Francis Ltd. https://doi.org/10.3109/10929080802413129
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