Cardiolock: an active cardiac stabilizer. First in vivo experiments using a new robotized device.
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.
Bachta
Wael
W
LSIIT (UMR CNRS-ULP 7005), Strasbourg I University, France. wael@eavr.u-strasbg.fr
Renaud
Pierre
P
Laroche
Edouard
E
Gangloff
Jacques
J
Forgione
Antonello
A
D000818:Animals; D047549:Coronary Artery Bypass, Off-Pump / Q000295:instrumentation* / Q000379:methods; D004867:Equipment Design; D019544:Equipment Failure Analysis; D006801:Humans; D007103:Immobilization / Q000295:instrumentation* / Q000379:methods; D010812:Physical Stimulation / Q000295:instrumentation* / Q000379:methods; D010865:Pilot Projects; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D013314:Stress, Mechanical; D013552:Swine; D013813:Therapy, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D014159:Transducers