title: Cardiolock: an active cardiac stabilizer. First in vivo experiments using a new robotized device.
abstract: 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.
authors.affiliation: LSIIT CNRS, Strasbourg I University, Ilkirch, France. wael@eavr.u-strasbg.fr
authors.forename: Wael
authors.initials: W
authors.lastname: Bachta
authors.forename: Pierre
authors.initials: P
authors.lastname: Renaud
authors.forename: Edouard
authors.initials: E
authors.lastname: Laroche
authors.forename: Antonello
authors.initials: A
authors.lastname: Forgione
authors.forename: Jacques
authors.initials: J
authors.lastname: Gangloff
mesh_terms: D000818:Animals; D006328:Cardiac Catheterization; D047549:Coronary Artery Bypass, Off-Pump / Q000295:instrumentation* / Q000379:methods; D004562:Electrocardiography / Q000295:instrumentation; D019723:Endoscopes; D004867:Equipment Design; D019544:Equipment Failure Analysis; D023421:Models, Animal; D010865:Pilot Projects; D012371:Robotics / Q000295:instrumentation*; D013552:Swine; D013813:Therapy, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D013903:Thoracic Surgery / Q000295:instrumentation*